Mobile Robots

The course is designed as an introductory course on mobile robotics fundamentals. Legged and wheel locomotion will be covered during the lectures with an emphasis on mobile robot kinematics. Kinematic models, mobile robot maneuverability, holonomicity, and motion control of mobile robots will be discussed in detail. Perception in mobile robots will be covered while introducing different sensors and their uses and issues such as sensor uncertainty. Localization of mobile robots will be discussed with a focus on probabilistic techniques. Path planning and obstacle avoidance strategies will be covered.