CP7030 ROBOTICS SYLLABUS FOR ME ECE 2ND SEMESTER

 ANNA UNIVERSITY, CHENNAI

REGULATIONS - 2013
CP7030 ROBOTICS SYLLABUS

ME 2ND SEM ELECTRONICS AND COMMUNICATION ENGINEERING SYLLABUS

CP7030 ROBOTICS SYLLABUS

OBJECTIVES
 To understand robot locomotion and mobile robot kinematics
 To understand perception in robotics
 To understand mobile robot localization
 To understand mobile robot mapping
 To understand simultaneous localization and mapping (SLAM)
 To understand robot planning and navigation

UNIT I LOCOMOTION AND KINEMATICS
Introduction to Robotics – key issues in robot locomotion – legged robots – wheeled mobile robots – aerial mobile robots – introduction to kinematics – kinematics models and constraints – robot maneuverability

UNIT II ROBOT PERCEPTION
Sensors for mobile robots – vision for robotics – cameras – image formation – structure from stereo – structure from motion – optical flow – color tracking – place recognition – range data

UNIT III MOBILE ROBOT LOCALIZATION
Introduction to localization – challenges in localization – localization and navigation – belief
representation – map representation – probabilistic map-based localization – Markov localization – EKF localization – UKF localization – Grid localization – Monte Carlo localization – localization in dynamic environments

UNIT IV MOBILE ROBOT MAPPING
Autonomous map building – occupancy grip mapping – MAP occupancy mapping – SLAM –
extended Kalman Filter SLAM – graph-based SLAM – particle filter SLAM – sparse extended information filter – fastSLAM algorithm

UNIT V PLANNING AND NAVIGATION
Introduction to planning and navigation – planning and reacting – path planning – obstacle avoidance techniques – navigation architectures – basic exploration algorithms.

TOTAL : 45 PERIODS

OUTCOMES:
Upon Completion of the course, the students will be able to
 Explain robot locomotion
 Apply kinematics models and constraints
 Implement vision algorithms for robotics
 Implement robot localization techniques
 Implement robot mapping techniques
 Implement SLAM algorithms
 Explain planning and navigation in robotics

REFERENCES:
1. Roland Seigwart, Illah Reza Nourbakhsh, and Davide Scaramuzza, “Introduction to autonomous mobile robots”, Second Edition, MIT Press, 2011.
2. Sebastian Thrun, Wolfram Burgard, and Dieter Fox, “Probabilistic Robotics”, MIT Press, 2005.
3. Howie Choset et al., “Principles of Robot Motion: Theory, Algorithms, and Implementations”, A Bradford Book, 2005.
4. Gregory Dudek and Michael Jenkin, “Computational Principles of Mobile Robotics”, Second Edition, Cambridge University Press, 2010.
5. Maja J. Mataric, “The Robotics Primer”, MIT Press, 2007.