According to a survey 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 realizing that a mobile robot
can move autonomously will be lectured.
In addition, when the practical training is possible in a classroom, we also aim to realize actual autonomous driving using an educational mobile robot "Beego".
In addition, when the practical training is possible in a classroom, we also aim to realize actual autonomous driving using an educational mobile robot "Beego".
- The students will be able to understand the principle and how to use of various sensor that is used in an autonomous mobile robot.
- The students will be able to understand self-localization method that is used in an autonomous mobile robot.
- The students will be able to understand the motion control method and 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． | (Remote Lecture) Guidance for this lecture (Confirming the necessary environment and knowledge for this lecture) - Introduction of the educational mobile robot "Beego" - Check the programming environment - Programming language (C, C++) - Basic mathematics needed for this lecture (Linear algebra, probability statistics, error analysis, least squares method, coordinate transformation, normal distribution, etc.) Introduction of research examples of autonomous mobile robots at Shibaura Institute of Technology Prerequisites for programming autonomous driving - About system configuration, coordinate system settings, estimated parameters for autonomous driving, etc. - About middlewares sucha as SSM, ROS, etc. |
Review contents of the "Prerequisites" listed in the syllabus | 90minutes |
| Survey of application examples of autonomous mobile robots | 90minutes | ||
| Summarize the ideas discussed in the previous lecture into slides using Miro | 90minutes | ||
| 2． | (Remote Lecture) Self-localization method (Wheel odometry, and Inertial Measurement Unit : IMU) - Theoretical explanations, and the practical training with programming |
Review the program you have created | 90minutes |
| 3． | (Remote Lecture) Self-localization method (Gyro-odometry) - Theoretical explanations, and the practical training with programming Explanation of LIDAR and how to use it - Theoretical explanations, and the practical training with programming |
Review the program you have created | 90minutes |
| 4． | (Remote Lecture) Environmental Recognition Using LIDAR - Explaining application examples of environmental recognition - Practical training by programming a wall detection (detecting distance and angle to a wall) Self-localization method (Scan matching) - Explanation about the scan matching method such as ICP, particle filters, etc. - Practical training with programming |
Review the program you have created | 90minutes |
| 5． | (Remote Lecture) Self-localization method (Sensor fusion) - Explanation about Kalman Filter - Practical training with programming Self-localization method (Miscellaneous) - Explanations about GNSS and cameras, etc. - Practical training with programing. |
Review the program you have created | 90minutes |
| 6． | (Face-to-face lecture are planned. However, remote lecture depending on conditions of the COVID-19 pandemic ) Motion control and Navigation - Explanations and practical training with programming Hands-on practice with the mobile educational robot "Beego" - One lap around the classroom by autonomous driving |
Review the program you have created | 90minutes |
| 7． | Considering applications using autonomous mobile robots - Propose an idea and consider how to implement it - Summarize your ideas into slides using Miro Presentation and discussion on autonomous mobile robots that each group proposed. - Presentation using slides created in Miro |
Review of Class schedule 1-7, and survey of associated journals | 90minutes |
| 8． | - | - | 0minutes |
| 9． | - | - | 0minutes |
| 10． | - | - | 0minutes |
| 11． | - | - | 0minutes |
| 12． | - | - | 0minutes |
| 13． | - | - | 0minutes |
| 14． | - | - | 0minutes |
| Total. | - | - | 810minutes |
| Presentation | Program code | Total. | |
|---|---|---|---|
| 1. | 10% | 20% | 30% |
| 2. | 10% | 30% | 40% |
| 3. | 10% | 20% | 30% |
| Total. | 30% | 70% | - |
<Criteria>
Presentation : 30%
Programming : 70%
<evaluation method>
To pass the class must earn a total score of more than 60%.
Presentation : 30%
Programming : 70%
<evaluation method>
To pass the class must earn a total score of more than 60%.
Academic journal papers related to autonomous mobile robots will be handed out during lectures.
1) Can prepare for an equipment that allows you to take distant lectures (remote lectures) on your own.
2) [Important] Can prepare for a C++ programming environment on your own.
*With OS, Ubuntu is best, but Windows and Mac are also acceptable.
3) Basic knowledge for mathematics (linear algebra, probability and statistics, error analysis, least squares method, coordinate transformation, etc.) is required.
4) Basic knowledge for programming techniques (C and C++) is required
2) [Important] Can prepare for a C++ programming environment on your own.
*With OS, Ubuntu is best, but Windows and Mac are also acceptable.
3) Basic knowledge for mathematics (linear algebra, probability and statistics, error analysis, least squares method, coordinate transformation, etc.) is required.
4) Basic knowledge for programming techniques (C and C++) is required
- Generally, feel free to ask any questions after the lecture
- Otherwise, please take an appointment by e-mail (thase@shibaura-it.ac.jp).
- Simple questions can be answered by e-mail (thase@shibaura-it.ac.jp).
- 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 applicable |
|---|---|
| N/A | N/A |
Last modified : Tue Mar 23 04:08:19 JST 2021