Course detail

Mechatronics of Autonomous Service Robots

FSI-GMAAcad. year: 2015/2016

The course presents the basic theoretical and practical knowledge from the field of construction and design of mobile robots (MR) specialized in service applications.

Language of instruction

Czech

Number of ECTS credits

3

Mode of study

Not applicable.

Guarantor

doc. Ing. Radek Knoflíček, Dr.

Department

Institute of Production Machines, Systems and Robotics (ÚVSSR)

Learning outcomes of the course unit

Students obtain knowledge on sensors working on the basis of various physical principles, both for monitoring of the internal condition of a service robot and providing information on the outer working environment. In laboratory, students are familiarized with microprocessor technology applied in control systems of mobile robots. Special attention is paid to the basic methods for motion control, localization, path planning, environment mapping and simulation of mobile robot behaviour.

Prerequisites

Basic knowledge from the fields of electrical engineering, electronics and programming techniques.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

The course is taught through exercises which are focused on practical topics presented in lectures.

Assesment methods and criteria linked to learning outcomes

Credit is awarded on the basis of attendance in seminars and term project evaluation.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

The objective is to acquire the knowledge necessary for further work of the students in the field of intelligent mobile and service system design.

Specification of controlled education, way of implementation and compensation for absences

Seminars are compulsory, attendance is monitored. Absence can be compensated on agreement with the teacher.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Bradley D.A.,.. Mechatronics. Electronics in products and processes.
Flynn A.M., Jones J.L.: Mobile robots. Inspiration to implementation
Kárník,L.-Knoflíček,R.-Novák,J.M.: Mobilní roboty

Recommended reading

Borenstein J., Everett H. R. and Feng L.: Navigating mobile robots. Systems and Techniques. A. K. Peters, Ltd., Wellesley, MA. 1999
Everett H. R.: Sensors for mobile robots. Theory and application. AK Peters Ltd., 1995

Classification of course in study plans

  • Programme N2301-2 Master's

    branch M-VSR , 1 year of study, summer semester, elective (voluntary)
    branch M-VSR , 1 year of study, summer semester, elective (voluntary)

Type of course unit

 

Exercise

26 hod., compulsory

Teacher / Lecturer

doc. Ing. Radek Knoflíček, Dr.

Syllabus

1. Introduction to Service Robotics.
2. Various aspects of mobile robot design, morphological analysis, searching for the most optimal variant for particular task.
3. Analysis of individual constructional parts of MR.
4. Basic types of MR undercarriages and their kinematics.
5. Sensors used in mobile robotics.
6. Classification of control systems, microprocessor technology, microprocessor chips.
7. A review of basic programming techniques.
8. Approaches to MR navigation, autonomy
9. MR localization, Kalman filter, Monte Carlo localization.
10. MR path planning methods.
11. Mapping, geometrical and topological maps, data fusion.
12. MR behaviour simulation using Matlab/Simulink.
13. Practical experiments on the departmental MR.