Learning Outcomes
Students will gain knowledge of fundamental paradigms in programming embedded, autonomous, mobile platforms to perform complex tasks in open worlds. They are able to apply algorithms for acquiring and processing sensor data, generate actions and represent an uncertain environment. Further, they will gain experience in working with embedded systems interacting with the real world and the use of software engineering tools.
Content
Lecture: Introduction to components and algorithms of mobile robots
Sensing, Actuation,
real time control,
kinematics,
world representation,
path planning in 2D
localization in 2D,
Handling uncertainty and incomplete world knowlege
probabilistic models and recursive estimation
Application to a mobile robot platform:
The course topics are implemented in group work on a mobile robot platform.
The groups develop the software components necessary for controlled, environment aware motion from the ground up, such as motion primitives, localization and mapping algorithms, and collision avoidance. Finally the students will compare their solutions in a robot tournament.
Description of Teaching and Learning Methods
Integrierte Veranstaltung aus Vorlesung (2h), Großübung (2h), betreuter Rechnerzeit (2h) und praktischen Arbeiten in Gruppen mit mobilen Robotern.
Miscellaneous
Bei ausreichenden Kapazitäten auch als Wahlpflichtmodul in anderen Studiengängen wählbar, z.B. Masterstudiengang Physikalische Ingenieurwissenschaft, Masterstudiengang Informationstechnik im Maschinenwesen.
