ORA352: Concepts in Mobile Robots syllabus for MSE 2021 regulation (Open Elective-IV)

Concepts in Mobile Robots detailed syllabus for Materials Science & Engineering (MSE) for 2021 regulation curriculum has been taken from the Anna Universities official website and presented for the MSE students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.

For Materials Science & Engineering 7th Sem scheme and its subjects, do visit MSE 7th Sem 2021 regulation scheme. For Open Elective-IV scheme and its subjects refer to MSE Open Elective-IV syllabus scheme. The detailed syllabus of concepts in mobile robots is as follows.

Course Objectives:

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Unit I

INTRODUCTION TO MOBILE ROBOTICS Introduction – Locomotion of the Robots – Key Issues on Locomotion – Legged Mobile Roots -Configurations and Stability – Wheeled Mobile Robots – Design Space and Mobility Issues -Unmanned Aerial and Underwater Vehicles

Unit II

KINEMATICS Kinematic Models – Representation of Robot – Forward Kinematics – Wheel and Robot Constraints – Degree of Mobility and Steerability – Manoeuvrability – Workspace – Degrees of Freedom – Path and Trajectory Considerations – Motion Controls – Holonomic Robots

Unit III

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Unit IV

LOCALIZATION Localization Based Navigation Versus Programmed Solutions – Map Representation – Continuous Representations – Decomposition Strategies – Probabilistic Map-Based Localization – LandmarkBased Navigation – Globally Unique Localization – Positioning Beacon Systems – Route-Based Localization – Autonomous Map Building – Simultaneous Localization and Mapping (SLAM).

Unit V

PLANNING, NAVIGATION AND COLLABORATIVE ROBOTS Introduction – Competences for Navigation: Planning and Reacting – Path Planning – Obstacle Avoidance – Navigation Architectures – Control Localization – Techniques for Decomposition -Case Studies – Collaborative Robots – Swarm Robots.

Course Outcomes:

Upon completion of this course, the students will be able to:

1. Evaluate the appropriate mobile robots for the desired application.
2. Create the kinematics for given wheeled and legged robot.
3. Analyse the sensors for the intelligence of mobile robotics.
4. Create the localization strategies and mapping technique for mobile robot.
5. Create the collaborative mobile robotics for planning, navigation and intelligence for desired applications.

Text Books:

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Reference Books:

1. Dragomir N. Nenchev, Atsushi Konno, TeppeiTsujita, “Humanoid Robots: Modelling and Control”, Butterworth-Heinemann, 2018
2. MohantaJagadish Chandra, “Introduction to Mobile Robots Navigation”, LAP Lambert Academic Publishing, 2015.
3. Peter Corke, “Robotics, Vision and Control”, Springer, 2017.
4. Ulrich Nehmzow, “Mobile Robotics: A Practical Introduction”, Springer, 2003.
5. Xiao Qi Chen, Y.Q. Chen and J.G. Chase, “Mobile Robots – State of the Art in Land, Sea, Air, and Collaborative Missions”, Intec Press, 2009.
6. Alonzo Kelly, Mobile Robotics: Mathematics, Models, and Methods, Cambridge University Press, 2013, ISBN: 978-1107031159.

For detailed syllabus of all the other subjects of Materials Science & Engineering 7th Sem, visit MSE 7th Sem subject syllabuses for 2021 regulation.

For all Materials Science & Engineering results, visit Anna University MSE all semester results direct link.