RA3702 deals with the semester VII B.E Robotics and Automation Syllabus at Anna University based on regulation 2021. In this article, we discuss the Mobile Robotics Syllabus 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, RA3702 – Mobile Robotics 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:
- To introduce mobile robotic technology and its types in detail.
- To learn the kinematics of wheeled and legged robot.
- To familiarize the intelligence into the mobile robots using various sensors.
- To acquaint the localization strategies and mapping technique for mobile robot.
- To aware the collaborative mobile robotics in task planning, navigation and intelligence.
RA3702 – Mobile Robotics Syllabus
Unit I: Introduction To Mobile Robotics
Introduction – Locomotion of the Robots – Key Issues on Locomotion – Legged Mobile Roots – Configurations and Stability – Wheeled Mobile Robots – Design Space and Mobility Issues – Unmanned Aerial and Underwater Vehicles – Teleportation and Control.
Unit – II: Kinematics
Kinematic Models – Representation of Robot – Forward Kinematics – Wheel and Robot Constraints – Degree of Mobility and Steerability – Manoeuvrability – Workspace – Degrees of Freedom – Path and Trajectory Considerations – Motion Controls – Holonomic Robots – Open Loop and Feedback Motion Control – Humanoid Robot – Kinematics Overview.
Unit – III: Perception
Sensor for Mobile Robots – Classification and Performance Characterization – Wheel/Motor Sensors – Heading Sensors – Ground-Based Beacons – Active Ranging – Motion/Speed Sensors – Vision-Based Sensors – Uncertainty – Statistical Representation – Error Propagation – Feature Extraction Based on Range Data (Laser, Ultrasonic, Vision-Based Ranging) – Visual Appearance-based Feature Extraction.
Unit – IV: Localization
The Challenge of Localization – Sensor Noise and Aliasing – Effector Noise – Localization Based Navigation Versus Programmed Solutions – Belief Representation – Single – Hypothesis Belief And Multiple-Hypothesis Belief – Map Representation – Continuous Representations – Decomposition Strategies – Current Challenges In Map Representation – Probabilistic Map-Based Localization Markov Localization – Kalman Filter Localization – Landmark-Based Navigation – Globally Unique Localization – Positioning Beacon Systems – Route-Based Localization – Autonomous Map Building – Stochastic Map Technique – Other Mapping Techniques. Simultaneous Localization and Mapping (SLAM).
Unit – V: Planning, Navigation And Collaborative Robots
Introduction – Competences for Navigation: Planning and Reacting – Path Planning – Obstacle Avoidance – Navigation Architectures – Modularity for Code Reuse and Sharing – Control Localization – Techniques for Decomposition – Case Studies – Collaborative Robots – Swarm Robots.
Text Books:
- Roland Siegwart and IllahR.Nourbakish, “Introduction to Autonomous Mobile Robots” MIT Press, Cambridge, 2004.
References:
- Dragomir N. Nenchev, Atsushi Konno, TeppeiTsujita, “Humanoid Robots: Modelling and Control”, Butterworth-Heinemann, 2018.
- MohantaJagadish Chandra, “Introduction to Mobile Robots Navigation”, LAP Lambert Academic Publishing, 2015.
- Peter Corke, “Robotics, Vision and Control”, Springer, 2017.
- Ulrich Nehmzow, “Mobile Robotics: A Practical Introduction”, Springer, 2003.
- Xiao Qi Chen, Y.Q. Chen and J.G. Chase, “Mobile Robots – State of the Art in Land, Sea, Air, and Collaborative Missions”, Intec Press, 2009.
- Alonzo Kelly, Mobile Robotics: Mathematics, Models, and Methods, Cambridge University Press, 2013, ISBN: 978-1107031159.
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