Autonomous Control of Robotic Systems
(3-0-0-3)
CMPE Degree: This course is Not Applicable for the CMPE degree.
EE Degree: This course is Not Applicable for the EE degree.
Lab Hours: 0 supervised lab hours and 0 unsupervised lab hours.
Technical Interest Group(s) / Course Type(s): Systems and Controls
Course Coordinator:
Prerequisites: None.
Catalog Description
Fundamental issues associated with autonomous robot control. Emphasizes biological perspective that forms the basis of many current developments in robotics.Course Outcomes
Not Applicable
Strategic Performance Indicators (SPIs)
Not Applicable
Topical Outline
1. Introduction: Anatomy of a Robot: Classification of Robots; Robot Configurations; Robot Components; Performance Characteristics.
2. Foundations: 2D and 3D affine transformations. Jacobian matrices. Simulation tools.
3. Kinematics: Modeling kinematic chains, Forward kinematics, Inverse kinematics
4. Perception: Simple pinhole camera model, Basics in camera calibration, Triangular active sensing, Color space, Image filtering algorithms to reduce noise, Edge detection, Hough transform for lines and circles
5. Reactive Behaviors: Feedback control. Basic navigation algorithms based on recognized landmarks. Obstacle avoidance. Path following and boundary following. Simple reactive behaviors to object detected by computer vision.
6. Motion and Path Planning: Distance transform, Breadth first search, the A* algorithm, Potential field-based method.
7. Dynamics and Control: Rigid body dynamics equations, Controller design for quadrotors and underwater vehicles.