Dozent

Prof. Dr. Karsten Berns

Übungsleiter

M.Sc. Qazi Hamza Jan

Vorlesungsmaterial

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13.04.2019  chapter_01.pdf

13.04.2019  chapter_02.pdf

13.04.2019  chapter_03.pdf

06.05.2019  chapter_04-1-kinematics.pdf

06.05.2019  chapter_04-2-dynamics.pdf

06.05.2019  chapter_04-3-trajectory.pdf

20.05.2019  chapter_05.pdf

20.05.2019  chapter_06.pdf

20.05.2019  chapter_07.pdf

28.06.2019  chapter_08.pdf

28.06.2019  chapter_09.pdf

28.06.2019  chapter_10.pdf

Übungen:

29.04.2019  exercise_01.pdf , 

06.05.2019  exercise_02.pdf , 

13.05.2019  exercise_03.pdf , 

20.05.2019  exercise_04.pdf , 

27.05.2019  exercise_05.pdf , 

03.06.2019  exercise_06.pdf , 

10.06.2019  exercise_07.pdf , 

14.06.2019  exercise_08.pdf , 

24.06.2019  exercise_09.pdf , 

18.07.2019  exercise_10.pdf

Inhalt

Autonomous mobile robots (AMR) can be defined as robots able to navigate through the environment in an autonomous way while performing goal-oriented tasks. They can be classified according to their operational environment into unmanned ground vehicles (UGVs), unmanned water vehicles (UWVs), autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs).

In the context of the lecture Autonomous Mobile Robots (AMR), basic techniques and methods are introduced.

Starting with the definition, applications, and the history of AMR, important areas like

• Sensor Systems
• Feature Extraction and Object Recognition
• Modelling
• Localization
• Mapping
• Navigation
• Control Architectures

are covered. Although this lecture focuses on UGVs, most methods can also be transferred to other types of AMRs.

Voraussetzungen

Knowledge of the lecture Foundations of Robotics (INF-60-02-V-4)

Corrections as discussed in available in errata slides

Literatur

Supporting literature will be given during the lecture and exercises.