Introduction to Mobile Robotics
Organizational issues
| Term: | summer semester (2/1/0) |
| Requirements: | none |
| Exam: | oral |
| Lecturer: | Prof. Dr.-Ing. Ulrike Thomas |
| Sign-up: | >>> OPAL |
| Timetable: | Link to the timetable of the TU |
Contents
Please note: the lecture is in German!
Topics covered:
- Kinematic of wheels
- Sensors and sensor data processing of ultrasonic data, GPS (global positioning system), compass
- Kalman- and particlefilter
- Configuration space obstacles and navigation
- Collisionfree path planning with the help of deterministic methods: decomposition panel, potential fields and visibility-graphs
- Collisionfree motion planning with probabilistic methods: RRT, PRMs.
- Markov Decision Processes (MDP)
- POMDP (Partially Observable Markov Decision Processes)
- SLAM Methods (Simultaneous Localization and Mapping)
- SLAM with extended Kalmanfilter
- Graph SLAM
- Fast SLAM
Literature
- Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D. (2011). Introduction to autonomous mobile robots. MIT press.
- Thrun, S., Burgard, W., & Fox, D. (2006). Probalistic robotics. MIT press.
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Choset, H. M., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L., ... & Arkin, R. C. (2005). Principles of robot motion: theory, algorithms, and implementation. MIT press.
