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

 

PART II – PATH-PLANNING

  • [Thu, 24 October 2024] Slides of Lecture 7 “Path planning (Part 1) and a Matlab tutorial”  (video):
    • Starting to link with the path/traj planning 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 vs W-space.
    • Polynomial interpolation in both C-space vs W-space.
    • Cubic polynomial interpolation in time, quintic polynomial interpolation to impose initial and final positions, velocities and accelerations at once.
    • Higher-order polynomial fitting to take advantage from specific WMR performance.

PART III – PATH AND MOTION CONTROL

 

In order to aim your efforts, I provide here a sample list of typical questions (UP TO DATED AT 2024-2025).

HERE WE ARE FINALLY !