Mobile Robotics 2022-2023

There is an invaluable booklet written by Luca Baglivo and other colleagues from Mechatronics Department at UNITN that is a real compendium of 2/3 of the course. Here almost the same book up to dated with notes made during the years.

Hereafter teaching and technical material mainly produced during the present 2022-2023 academic year:

  • Slides of Lecture 1 :
    • Autonomous and Wheeled Mobile Robots (WMRs) introduction.
    • Mechanical and theoretical aspects of wheel modeling.
    • An introduction to Unicycle, Car-like and other kinematic models.
    • About mechanics constraints of wheels, WMR mobility and steerability,
    • Kinematics/mechanical classifications and some other tips, one might refer to this document.
  • Moreover I would like to mention some slides about kinematics also in ppt format of colleagues which clarify some peculiar aspects of omnidirectional (3,0) WMR kinematics.
  • Moreover, here there are some notes about Swedish wheels dynamics and application on mobile robots.
  • Slides of Lecture 2 (Matlab Tutorial 1):
    • Matlab tutorial carrying on the simulation of unicycle and FD car-like WMRs kinematics models, with hints about computation efficiency, numerical precision/integration, etc.
  • For who it concern, another interesting example of differential drive “unicycle” modeling in Matlab and Simulink with the chance to consider further constraint as upper limits, etc
  • Slides of Lecture 3 :
    • Starting to link with the path/traj planning and control issues; a few controller structures are presented.
    • Path and Trajectory “extension” is discussed and the approach correctly addressed with the introduction of the time scaling for kinematic models and the differential flatness for nonlinear dynamic systems.
    • Point-to-point path planning in C-space and W-space.
    • Polynomial interpolation in both C-and W-space.
    • Cubic polynomial interpolation in time, quintic polynomial interpolation ti fix initial and final positions, velocities and accelerations at once.
    • Higher-order polynomial fitting to take advantage from specific WMR performance.
  • Slides of Lecture 4 (Matlab General Tutorial 1):
    • Dynamic Systems and PID controllers, system sability, transient and permanent regimes and other basic considerations.
    • Introduction to the Ziegler-Nichols self-oscillation and step-response methods, calculations, results and system simulation.
    • Matlab code.
  • Slides of Lecture 5 (updated on 2020, October 20):
    • Flat outputs and driftless systems
    • Chained form transformations
    • Planning vs. control vs. stabilization
  • Further material about unicycle Point-to-point path planning (Minotto – De Cecco) in chained-form and and notes on its use with piecewise constant inputs
  • Slides of Lecture 6 (Matlab Tutorial 2):
    • Chained form
    • Constant and non constant varying input
    • Unicycle chained form example code.
  • Slides of Lecture 7:
    • Ending path/trajectory planning (Part2) with the clotoid
    • Roadmap building online-offline strategies (diagrams, graphs, potential fields.
    • Continuous curvature path planning (Baglivo – De Cecco)
  • About Lecture 8, download the Code here.
  • Slides of Lecture 9:
  • to be up to dated…




2022-2023 Interactive Lesson in Mobile Robotics: path planning


Andrea Cesarini is inviting you to a scheduled Meet meeting.

Lectures on Wheeled Mobile Robotics
Time slot:  3:30 – 6:30PM
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Andrea Cesarini is inviting you to a scheduled Zoom meeting.

Topic: Lecture
Time: Oct 14, 2022 03:30 PM Rome

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Meeting ID: 921 4688 2200
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