According to a survey by by the New Energy and Industrial Technology Development Organization (NEDO), the market for service
robots, including autonomous mobile robots, is expected to expand to nearly 10 trillion yen by 2035. Recently, autonomous
mobile robots have been introduced into urban areas, commercial facilities, airports, hotels and so on. The strategy of design
when developing an autonomous mobile robot will be lectured, using a real mobile robot "Beego".
The design strategy, system design method, various kinds of sensor, and programming skill for reallizing that a mobile robot
can move autonomously will be lectured using an educational mobile robot "Beego".
- Understand the principle and how to use of various sensor that is used in an autonomous mobile robot.
- Understand self-localization method that is used in an autonomous mobile robot.
- Understand the motion control method that is used in an autonomous mobile robot.
- Understand the navigation that is used in an autonomous mobile robot.
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1． | Guidance of lecture and necessary knowledge for this lecture - Introduction of application example of autonomous mobile robots - Introduction of educational mobile robot "Beego" - Overview of programming environment - Programming technique (C, C++) Basic mathematics needed for this lecture - Linear algebra, probability statistics, error analysis, least squares method, coordinate transformation, normal distribution, etc. |
Survey of application example of mobile robots | 90minutes |
| Review the mathematics described in the Class schedule 1 | 90minutes | ||
| 2． | Explain the traveling commands for an autonomous mobile robot - How to use YPSpur command - How to implement the above command, and its practice |
Review how to implement the travel command | 90minutes |
| 3． | Practical training using the traveling commands of an autonomous mobile robot - Autonomous traveling in a global coordinates ( 2 to 3 challenges) |
Review of programs that you made | 90minutes |
| 4． | Practical training for robot middleware using common memory "SSM (Sensor Sharing Manager)" ( 2 to 3 challenges) | Review of programs that you made | 90minutes |
| 5． | Input to an autonomous mobile robot (Internal Sensor) - How to use encoder, gyro sensor, IMU, etc. - Self-localization using only an internal sensor for an autonomous mobile robot |
Survey of sensors described in the Class schedule 5 | 90minutes |
| 6． | Input to an autonomous mobile robot (External Sensor) #1 - How to use 2D LIDAR - Practical training using 2D LIDAR (Simple human tracking function) |
Survey of sensors described in the Class schedule 6 | 90minutes |
| 7． | Input to an autonomous mobile robot (External Sensor) #2 - Practical training using 2D LIDAR ( Detection of distance and angle against wall ) |
Review of programs that you made | 90minutes |
| 8． | Output to an autonomous mobile robot (Velocity, Angular velocity) - About a motion control - Practical training how to making the traveling commands that used in Class schedule 2 and 3 Way Point (WP) Navigation for an autonomous mobile robot - Detecting method when getting to WP |
Survey of associated journals about a motion control and WP navigation | 90minutes |
| 9． | Output to an autonomous mobile robot (Position, Orientation) - About a self-localization using an external sensor - About Sensor fusion |
Survey of associated journals about self-localization method for an autonomous mobile robot | 90minutes |
| 10． | Mapping based on self-localization of an autonomous mobile robot - Occupied grid map using 2D LIDAR |
Survey of associated journals about an occupied grid map | 90minutes |
| 11． | Navigation for an autonomous mobile robot #1 - Self-localization using wheel odometry |
Survey of associated journals about navigation | 90minutes |
| 12． | Navigation for an autonomous mobile robot #2 - Self-localization applying a position correction by a wall detection - Comparing with navigatoin used in the class schedule 11 |
Review of programs that you made | 90minutes |
| 13． | Navigation for an autonomous mobile robot #3 - Self-localization using a scan matching - Comparing with navigatoin used in the class schedule 12 |
Survey of associated journals about navigatoin | 90minutes |
| Review of programs that you made | 90minutes | ||
| 14． | Presentation and discussion on the autonomous navigation system that each group made. | Review of Class schedule 1-13, and survey of associated journals | 90minutes |
| Total. | - | - | 1440minutes |
| report | Program code | Total. | |
|---|---|---|---|
| 1. | 5% | 20% | 25% |
| 2. | 5% | 20% | 25% |
| 3. | 5% | 20% | 25% |
| 4. | 5% | 20% | 25% |
| Total. | 20% | 80% | - |
Basic mathematics ( Linear algebra, probability statistics, error analysis, least squares method, coordinate transformation,
normal distribution ) and programming technique are required.
- Generally, feel free to ask any questions after the class
Otherwise, please take an appointment by e-mail.
Simple questions can be answered by e-mail.
- Course that cultivates an ability for utilizing knowledge
- Course that cultivates a basic problem-solving skills
| Work experience | Work experience and relevance to the course content if applicatable |
|---|---|
| N/A | N/A |
Last modified : Tue Aug 25 04:07:33 JST 2020