The aim of this course is to introduce the student to the fundamental aspects of modelling, planning and control for mobile and autonomous robots, and mobile manipulators.
The course covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and modern planning and control techniques are introduced.
At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.
Contents
Lecture timetable
The course is composed by a blending of lectures by the course teacher, and exercises and laboratories by a teaching assistant.
| Lecture | Monday | 15.15-18.15 | B2.2.15 |
| Tuesday | 15.15-18.15 | BL.27.14 | |
| Wednesday | 15.15-18.15 | L.02 | |
| Laboratory | Tuesday | 15.15-17.15 | CS.02 |
A detailed schedule of laboratories can be found here (days are correct up to some last minute change I will notify you by email):
- Laboratory 1: October 24, 2017
- Laboratory 2: November 7, 2017
- Laboratory 3: November 21, 2017
- Laboratory 4: November 28, 2017
- Laboratory 5: December 5, 2017
Teaching material
Lectures
- Course introduction
- Systems theory overview (continuous time systems)
- Frequency domain design
- Root locus
- State space design
- Systems theory overview (discrete time systems)
- Digital control systems
- Motion planning
- Motion control (standard control techniques)
- Motion control (advanced control techniques)
- Industrial robotics
- Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)
- Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)
Exercises
- Time domain analysis of dynamical systems
- Time responses of first/second order systems
- Stability and performance analysis of closed-loop systems
- Frequency domain design
- Root locus and pole placement design
- Discrete time systems and digital control design
- Hardware technologies for automation
- Final exam example
Laboratories
- Closed-loop systems (exercises, solutions)
- Pole placement (exercises, solutions)
- Discrete time systems and digital control (exercises, solutions)
- Motion control techniques (exercises, solutions)
- Advanced motion control techniques (exercises, solutions)
Project
- Control of a Mobile Inverted Pendulum (project 2015/2016)
- Control of a laboratory thermal process (project 2016/2017)
Past exams
| 2015/2016 | February, March, July, September (I), September (II) |
| 2016/2017 | February, March, July (I), July (II), September |
| 2017/2018 | January, February, June, July, September |
Office hours
See "Professor's activities" page on www.polimi.it.
Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.
Online resources
The following are links to online sources which might be useful to complement the material above