Intelligent mobile transport systems

Higher education teachers: Kamnik Roman

Subject description

Prerequisits:

• Finished engineering or science study,
• enrollment into doctoral program.

Content (Syllabus outline):

Introduction: a review of autonomous mobile systems with consideration to the type of actuation and usage. Perception and reasoning about space: sensory systems, sensory integration, parameters and state identification, localization, navigation in the space, map building. Mathematical modelling and simulation: kinematic and dynamic model, environment interaction model, interaction model man/machine. Control: path planning, drive control, interaction control, multiagent systems, manipulation. Active safety systems: stability control, obstacle avoidance, collision avoidance, tracking.

Objectives and competences:

The subject covers the area of intelligent mobile systems incorporating mobile robots and autonomous vehicles. The aim of the course is to acquire knowledge necessary for understanding priciples of control, perception and reasoning about space, mathematical modelling and simulation, and stability and safety assurance of robotic mobile systems.

Intended learning outcomes:

Knowledge and understanding:
Knowledge of description of pose, motion and stability parameters for mobile systems. Understanding of environment perception and sensory data fusion. Knowledge of control principles for mobile systems. Usage of learned knowledge in practical work with mobile robots.

Learning and teaching methods:

• Lectures give the theorethical background about presented chapters thematics togehter with demonstration of simple practical examples.
• Students accomplish an individual seminar work in which with own solutions address more complex problems.

Study materials

1. Siegwart, R., Nourbakhsh, I.R., Scaramuza, D., Introduction to autonomous mobile robots, MIT Press, Cambridge, 2004.
2. Tzafestas, S., Introduction to mobile robot control, Elsevier, 2013.
3. Thrun, S., Burgard, W., Fox, D., Probabilistic Robotics, MIT Press, Cambridge, 2005.
4. Li, L., Wang, F.Y., Advanced motion control and sensing for intelligent vehicles, Springer-Verlag, Berlin, 2007.
5. Jazar, R.N., Vehicle Dynamics: Theory and Application, Springer-Verlag, Berlin, 2009.