|CFU||5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) GENOVA|
|SETTORE SCIENTIFICO DISCIPLINARE||ING-INF/04|
The class first develops the kinematic modeling and motorization of mobile robots, illustrated by the full study of the differential drive robot. Then localization based on the Extended Kalman Filter is addressed, is illustrated by a lab which uses real data and presents a tuning methodology. Observability issues are also addressed, with practical examples. Planning methods applicable to mobile robots are studied, in particular potential field methods and the Rapidly exploring Random Tree. Control then focuses on direct applications to mobile robots: static and dynamic feedback control and Lyapunov based control, illustrated on the case of the differential drive robot.
GAETAN GARCIA (Presidente)
ANTONIO SGORBISSA (Presidente Supplente)
ENRICO SIMETTI (Presidente Supplente)
L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.
|03/02/2022||14:00||GENOVA||Orale||This date is reserved to students who intend to graduate in the March session. Exam will be held online, probably on Zoom platform. More info will be given few days before the date by the professor of the course.|