Materiaalit
Course introduction and arrangements
- Learning goals
- Teaching and requirements
- Grading and evaluation
What is Mobile robot !?
- What is a service robot? Field Robot?
- Which kinds of service and field robots exist? Examples
- More on Field robotics
- Autonomous vehicles
- Mobile robot subsystems
- Control architectures
Robot control system architectures
•Motivation and state-of-the-art issues
•Short introduction to control paradigms
•The Hierarchical Paradigm
•Biological foundations for the reactive paradigm
•The Reactive Paradigm
•The Hybrid Paradigm
•AuRA Architecture (example of Hybrid solutions)
Course Robot Projects
Team works:
1) Design of a case robot system
2) Testing algorithms under ROS/ PioneerIntroduction to ROS/Pioneer robot
Locomotion, Kinematics, and Low level Motion Control
• Locomotion – Principles and mechanisms to make the robot move.
• Kinematics – How to model motion of (rigid) bodies?Kinematics for a differential drive robot• Motion control – How to make a robot attain a goal or follow a trajectory?For Outdoor, Kinematics for a Wheeled Mobile Robot (WMR)WMR Velocity Kinematics for Fixed Contact Point – General Theory, not required in ExamSensing and Perception
• Characterizing sensors
• Classification of sensors
• Sensor types for mobile robots
• Perception in mobile roboticsGraph SLAM
– Graph construction and optimization
Zoom-video from remote lecture
– Case forest SLAM
– Advanced topicsSatellite positioning – GNSS technologies
● GNSS (Global Navigation Satellite System
– Applications
– Constellations: GPS, Galileo, GLONASS, Beidou
● GPS architecture and system
● Multi-sensor data input
● Position determination
● Error sources
● GNSS performance
● GNSS shortcomings
● Practicals for coding (formats, libs, links)Zoom-video of remote lecture
Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU)
• Introduction
• Mathematics of Inertial Navigation
• Errors and Aiding in Inertial Navigation
• Example: Simple Odometry Aided AHRS
• Use of cheap MEMS IMUs in robotics
• SummaryA DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs - paper as additional material, not required in exam
Zoom-video of the remote lecture
Visual localization and object recognition
- Perception for Mobile Robots
- Machine Vision
- Stereo Vision
- Filtering, Edges, and Point-features
- Corner Detection
- Blob features
- Place Recognition, Line Extraction
Graph-based Path Planning
Graphs to the rescue!!
Dr. Kshitij Tiwari
Overview
Biography
Motivation
About
Graph-based Path Planners
Scenario
Graphs
Best-first Search Methods- Dijkstra Algorithm
- A* Algorithm
- D* Algorithm
Sampling Based Methods
- RRT
- PRM
Summary
Cliff Hanger
ReadingsInformative Path Planning
Information to the rescue!!
Dr. Kshitij Tiwari
Overview
Recap
Informative Path Planning (IPP)- Information
- Path Planning
- Challenges
Tackling challenges
- Information acquisition
- Termination criterion
- Scalability
- Interference
- Sufficient information
Summary
Readings
ROS TutorialZoom-video of the remote lecture
Coverage Path Planning
Wide Area Coverage!!By Dr. Kshitij Tiwari
Overview
Motivation
Intuition
Coverage Path Planning (CPP)- Travelling Salesman
- Lawnmower
- Piano Mover
- Art Gallery
- Watchman Route
- Orienteering
- Random Exploration
- Frontier-based Exploration
- Adaptive Voronoi Exploration
Challenges
Summary
ReadingsOutdoor Motion Planning and Control
Predictive Modeling– Braking
– Turning
– Vehicle Rollover
– Wheel Slip and Yaw StabilityControl of mobile robot
1. Robot Trajectory Following
2. Perception Based Control
3. Steering Trajectory Generation
4. Optimal and Model Predictive ControlNonlinear Model Predictive Control (NMPC) in Semiautonomous Systems at Aalto
Example: Autonomous driving of Tractor and Implement5. Intelligent Control