ECE Course Syllabus
ECE6562 Course Syllabus
Autonomous Control of Robotic Systems (3-0-3)
- Technical Interest
- Systems and Controls
- Catalog Description
- Fundamental issues associated with autonomous robot control. Emphasizes biological perspective that forms the basis of many current developments in robotics.
- G.A. Bekey, Autonomous Robots: From Biological Inspiration to Implementation and Control, MIT Press, 2005. ISBN 0262025787, ISBN 978-0262025782 (required)
SPIs are a subset of the abilities a student will be able to demonstrate upon successfully completing the course.
- Topical Outline
1. Introduction: Anatomy of a Robot: Classification of Robots; Robot Configurations; Robot Components; Performance Characteristics. 2. Foundations: 2D and 3D affine transformations. Jacobian matrices. Simulation tools. 3. Kinematics: Modeling kinematic chains, Forward kinematics, Inverse kinematics 4. Perception: Simple pinhole camera model, Basics in camera calibration, Triangular active sensing, Color space, Image filtering algorithms to reduce noise, Edge detection, Hough transform for lines and circles 5. Reactive Behaviors: Feedback control. Basic navigation algorithms based on recognized landmarks. Obstacle avoidance. Path following and boundary following. Simple reactive behaviors to object detected by computer vision. 6. Motion and Path Planning: Distance transform, Breadth first search, the A* algorithm, Potential field-based method. 7. Dynamics and Control: Rigid body dynamics equations, Controller design for quadrotors and underwater vehicles.
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