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MTS-804 Motion Planning for Mobile Robots
Campus
College of E&ME
Programs
PG
Session
Spring Semester 2017
Course Title
Motion Planning for Mobile Robots
Course Code
MTS-804
Credit Hours
3-0
Pre-Requisutes
Introduction to Robotics, Matlab
Course Objectives
This course is designed to serve as an introduction the broad area of robotics, intelligent machines that can act of their work, and specifically mobile robotics.
It will deal primarily with algorithmic issues.
It will discuss how we can approach the three key issues in mobile robotics: building a map of our surroundings, knowing where we are, and formulating a plan to get us where we want to go (mapping, localization and path planning)?
Detail Content
An overview of concepts in robot motion planning.
Sensor-Based Motion Planning Algorithms
the “Bug” algorithms
the TangentBug algorithm
Implementation
The configuration space of a rigid body.
The classical motion planning paradigms:
the potential functions
the roadmaps
the cellular decompositions
The sampling based algorithms:
the probabilistic roadmaps
single query sampling based planners
Map making and SLAM
the Kalman filter
the SLAM problem
the Bayesian approaches to map making
Non-holonomic drive systems
the types of drive systems
the legged robots
the crawling robots
trajectory planning for non-holonomic systems
Motion planning for multiple robots
Notion of configuration x time space
Mapping of moving obstacles in configuration x time space
Centralized vs. decoupled planning
Decoupled planning techniques: Velocity tuning, coordination diagram, prioritized planning
Text/Ref Books
Principles of Robot Motion, Theory Algorithms and Implementations by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun
Probabilistic Robotics Sebastian Thrun
Any Other book on Mobile Robots
Time Schedule
Spring Semester 2017
Faculty/Resource Person
Dr. Kunwar Faraz Ahmed Khan
PhD. (Mechanical Engineering), University of Toronto, Canada
Discipline: Mechatronics
Specialization: Mechanical Engineering