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MOBILE ROBOTS

CODICE 106956
ANNO ACCADEMICO 2021/2022
CFU 5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SETTORE SCIENTIFICO DISCIPLINARE ING-INF/04
SEDE GENOVA
PERIODO 2° Semestre
MATERIALE DIDATTICO AULAWEB

PRESENTAZIONE

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

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.

DOCENTI E COMMISSIONI

Commissione d'esame

GAETAN GARCIA (Presidente)

MARCO BAGLIETTO

ANTONIO SGORBISSA (Presidente Supplente)

ENRICO SIMETTI (Presidente Supplente)

LEZIONI

Orari delle lezioni

L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.

ESAMI

Calendario appelli

Data Ora Luogo Tipologia Note
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.
24/06/2022 09:00 GENOVA Scritto
06/07/2022 09:00 GENOVA Scritto
09/09/2022 09:00 GENOVA Scritto