RA3501 deals with the semester V B.E Robotics and Automation Syllabus at Anna University based on regulation 2021. In this article, we discuss the Robot Path Planning and Programming Syllabus along with textbooks and references.
We intend to provide a full-planned syllabus for students to gain knowledge of the syllabus. It will give students to be equipped with perfect books and the required knowledge to prepare for the examinations. These are necessary to get a qualified certificate from the university with aggregate marks. Students must perform well to take a step forward toward their careers. They must earn a qualified degree help them to achieve success in their goals. In this article, RA3501 – Robot Path Planning and Programming Syllabus will pioneer the way to do that. Hope the following information is useful. Don’t forget to share it with your classmates.
If you want to know more about the syllabus of B.E Robotics and Automation connected to an affiliated institution’s four-year undergraduate degree program. We provide you with a detailed Year-wise, semester-wise, and Subject-wise syllabus in the following link B.E Robotics and Automation Syllabus Anna University, Regulation 2021.
Aim Of Objectives:
- Introduce basic trajectory planning problems.
- Provide a basic review of various path-planning theory of manipulator.
- Provide a basic review of various path-planning theory of mobile robot.
- Introduction to the most widely used classical motion planning algorithms.
- Introduce sufficient terminology and concepts in ROS for robot programming.
RA3501 – Robot Path Planning and Programming Syllabus
Unit – I: Trajectory Planning Approaches
Definitions – Task planning and Trajectory planning – Representation of end-effector: Cartesian and joint space schemes. Workspace Analysis: work envelope of a multi DOF manipulator. Applications: Point-to-point motion and continuous path motion.
Unit – II: Trajectory Planning Of Manipulator
Joint space techniques – Motion profiles – Cubic polynomial, Linear Segmented Parabolic Blends and cycloidal motion – Cartesian space technique – Straight line and circular trajectories.
Unit – III: Path Planning Of Mobile Robot
Introduction – Representation of the Robot’s Environment – Review of configuration spaces – Visibility Graphs – Voronoi diagrams – Potential Fields – Attractive and Repulsive – Cell Decomposition Planning with moving obstacles – Probabilistic Roadmaps – Random trees – Execution of the Quadtree- Based Path Planner Program.
Unit – IV: Path Planning Algorithms
Planning – A* Algorithm – the D* algorithm – Path control. Graph search and discrete planning algorithms. – Sensor-Based Motion Planning Algorithms – the “Bug” algorithms – the Tangent Bug algorithm.
Unit – V: Ros Programming
Robot language classification – Programming methods: Lead through method, teach pendent method – Syntax features and applications of various programming languages – Examples – Inter locking commands – Safety features – Introduction to Robot Operating System (ROS) – ROS examples – Introduction to programming using ROS – Industrial ROS – ROS examples Programming for point to point /continuous – operations – Case Study.
Text Books:
- Niku S B, “Introduction to Robotics, Analysis, Control, Applications”, John-Wiley & Sons Inc, 2011.
- Howie Choset, Kevin Lynch Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, Sebastian Thrun, “Principles of Robot Motion-Theory, Algorithms, and Implementation”, MIT Press, Cambridge, 2005.
References:
- Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
- Principles of Robot Motion: Theory, Algorithms, and Implementations (by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.
- Robot Motion Planning by J.C. Latombe.
- Patnaik, Srikanta, “Robot Cognition and Navigation An Experiment with Mobile Robots”, Springer-Verlag Berlin and Heidelberg, 2007.
- Reza N Jazar, “Theory of Applied Robotics”, Springer, 2010.
- Morgan Quigley, Brian Gerkey, William D. Smart, Programming Robots with Ros: A Practical Introduction to the Robot Operating System, First Edition, 2016, ISBN 9352132793; 978-9352132799.
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