Please visit this link to access to some general purpose books and notes.
Let me highlight the 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 2023-2024 academic year:
PART I – WHEELED MOBILE ROBOTS KINEMATICS
- Slides of Lecture 1 (Wednesday 13/09/2023):
- NOTE> The slides of Lecture 1 are a slight updated version that will modificed in a day or two in its final version!
- Autonomous and Wheeled Mobile Robots (WMRs) introduction.
- Mechanical and theoretical aspects of wheel modeling.
- Varia
- Slides of Lecture 2 (Thursday 14/09/2023):
- An introduction to Unicycle, Bicycle, 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.
- Complementary material:
- 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 3 [MatLab Tutorial 1A] (Friday 15/09/2023):
- First Matlab tutorial about Unicycle kinematics, math models and dynamical system evolution.
- to be updated…
WHAT ABOUT A STUDENT INTERACTIVE LESSON?
2022-2023 Interactive Lesson in Mobile Robotics: path planning