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.
The course can be taken as a standalone 5 credits course or as a module of the integrated course Control of industrial and mobile robots, together with Control of industrial robots.
Contents
Lecture timetable
The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.
| Tuesday | 17.15-19.15 | (Online class) |
| Wednesday | 13.15-15.15 | (Online class) |
Teaching material
Lectures
- Course organization
- Course introduction
- Kinematics of mobile robots
- Dynamics of mobile robots
- Introduction to simulation tools
- Path and trajectory planning
- Regulation and trajectory tracking
- Mobile manipulation
- Case studies
Exercises
- Kinematics of mobile robots
- Kinematics and dynamics of mobile robots (part 1)
- Kinematics and dynamics of mobile robots (part 2)
- Exam example
Labs
- Simulating kinematic and dynamic models of mobile robots
- Motion planning algorithms for mobile robots
- Optimal and Kinodynamic Motion planning algorithms for mobile robots
- Feedback linearisation approaches for trajectory tracking
- Trajectory tracking
Past exams (Control of Mobile Robots)
| 2018/2019 | January (solution), February, July 1st, July 2nd, September |
| 2019/2020 | January (solution), February, [[1]], [[2]], [[3]] |
Past exams (Control of Industrial and Mobile Robots)
| 2018/2019 | January (solution), February, July 1st, July 2nd, September |
| 2019/2020 | January (solution), February, July 1st, July 2nd, 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