Robótica Móvel Avançada

Objectives

This course aims to provide students with the ability to solve problems with some complexity in advanced mobile robotic systems. To achieve this goal, it is proposed to study modeling methodologies of robotic systems, to define various problems of positioning, sensor fusion, navigation, driving and trajectory generation and to synthesize solutions based on current and rich methodologies. These are validated in a simulation environment (e.g. MATLAB / Simulink) and implemented in mobile robotic vehicles to be made available to students.

Syllabus

Motivation. Common configurations. Typical applications and challenges. Functional architecture of robots, organization of systems installed onboard. The kinematics and dynamics of robotic systems. Examples in 2D and 3D. Inertial motion sensors. Nonlinear least squares method . Global Positioning Systems and errors characterization. Linear navigation systems: introduction to Wiener filtering. The navigation system as a problem of estimation and sensor fusion. Complementary filters. Interpretation in the domain of time and frequency. Sensor fusion. Nonlinear navigation system: introduction to extended Kalman filtering. Navigation systems architecture. Systems synthesis. Control and guidance systems: path and trajectory tracking. Applications of optimal control. Analysis and synthesis of solutions. Other approaches and problems in mobile robotics.

Prerequisites

Approval in Optimal Control or equivalent course.

Cross Competence Component

The lab work will offer the students the opportunity to develop the following skills: 1) Critical and innovative thinking: critical analysis of situations and results obtained in theoretical analysis, simulations, and experiments. 2) Interpersonal skills: group communication and workload distribution. 3) Information and media literacy: exploitation of computational and media tools from a users perspective; ii) report preparation. Soft skills will account for 20% of the evaluation of the laboratory component.

Laboratorial Component

The laboratory assignements are: i) Problem formulation and simulation in MATLAB/Simulink. ii) Estimation, Control and Misssion Palnning in n MATLAB/Simulink. iii) Project validation with vehicles and lab demonstration.

Programming And Computing Component

Programming in MATLAB/Simulink.

Ethical Principles

All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.