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.
- A short note about “Voronoi Diagram Based Roadmap Motion Planning“.
- Another short note of “Robot motion planning using exact cell decomposition and potential field methods” coding.
- A few further notes about “Cell decomposition” (exact and approximated).
- Slides of Lecture 9:
- About two-wheels kinematics and Heuristic-based control (e.g. bicycle and a rhombic cart).
- Path control: ICR (Instantaneous Centre of Rotation) also known as “Pure Pursuit” path control.
- An example in Matlab that implement the Pure Pursuit path control and another geometric method. Here the Matlab main file and here the built control function, here another, simpler, control function.
- Material is in the Mobile Robotics article here and here but you can find anywhere in the net other examples of heuristic controllers
- A link to an interesting document from Carnegie Mellon University.
- to be up to dated…
WHAT ABOUT A STUDENT INTERACTIVE LESSON?
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
Informazioni per partecipare di Google Meet
Link alla videochiamata: https://meet.google.com/mwo-yyqh-btg
Alternatively type: (IT) +39 02 3041 9542 PIN: 937 213 038#
Other connection numbers: https://tel.meet/mwo-yyqh-btg?pin=1521702127335
Andrea Cesarini is inviting you to a scheduled Zoom meeting.
Time: Oct 14, 2022 03:30 PM Rome
Join Zoom Meeting
Meeting ID: 921 4688 2200