Autonomous Mobile Robots (AMR)
1/2. Semester
5 ECTS | 4 SWS
Project (PA)
Develop Autonomous Mobile Robots: Understand and integrate the subsystems of autonomous robots, apply concepts such as kinematics, sensor fusion, and control engineering, and develop your own solutions for motion and path planning in hands-on research projects.
Contents
- Overview on actual developments
- Sub-systems of mobile robots
- Kinematics, dynamics
- Feedback control systems, teal-time systems
- Movement and path plannung
- Selected control concepts and control systems
- sensors ans sensor fusion
- Lab project related to current research activities
Competencies
Students are able to
- explain the state of the art in robotics ant to identify related key problems
- work with coordinate transformations and direct/inverse konematics
- explain how system parts work together, especially between hardware and software,
- use control concepts for the development of robot applications
Literature
- Siciliano, B.; Khatib, O.: Springer Handbook of Robotics. Springer, 2008
- Weber, W.: Industrieroboter: Methoden zur Steuerung und Regelung. Fachbuchverlag Leipzig im Hanser Verlag. München, Wien, 2009
- Heimann, B.; Gerth, W.; Popp, K.: Mechatronik: eine Einführung in die Komponenten zur Synthese und die Methoden zur Analyse mechatronischer Systeme. Fachbuchverlag Leipzig im Hanser Verlag. München, Wien, 2007
- R. Isermann: Mechatronische Systeme : Grundlagen, Springer, 2008
- Borenstein, Everett, Feng: Where am I? Sensors and Methods for Mobile Robot Positioning. University of Michigan, 1996
- Dieter W. Wloka: Robotersysteme 1: Technische Grundlagen; Springer, 1992
- Dillmann, R.; Huck, M.: Informationsverarbeitung in der Robotik. Springer Verlag, Berlin (u.a.), 1991
- Martinez, A; Fernández, E.: Learning ROS for Robotics Programming, Packt Publishing, 2013
- Goebel, R. P.: ROS by Example INDIGO. Lulu, 2017
- Artikel aus aktuellen Konferenzen/Zeitschriftenbeiträge
Lecturer
Recommended Previous Knowledge
-
Kenntnisse auf den Gebieten Rechnerarchitektur, Betriebssysteme, Mikrocontrollerprogrammierung, Rechnernetze sowie der Programmiersprachen C/C++.
-
Erfahrungen auf den Gebieten Signalverarbeitung, Bildverarbeitung, Künstliche Intelligenz sind erwünscht.
Module Details
| Semester |
1/2 |
| Lecture Language |
German |
|
Frequency
|
Summer Term
|
| Credit Points (ECTS)
|
5 |
| Course Coordinator |
Prof. Dr. Thomas Ihme |
| Duration |
1 Semester |
| Study Focus |
Software Engineering (SE)
Creative Technology (CT)
|
|
Course Achievement
|
None |
|
Prerequisite for exam
|
Presentation (R) |
|
Exam
|
Project (PA) |
Weekly Hours (SWS)
| Lecture |
2 SWS |
| Project |
2 SWS |
| Sum |
4 SWS |
Work Load
| Lecture |
30 h |
| Self Study |
30 h |
| Assignments |
30 h |
| Project |
60 h |
| Sum |
150 h |
