0000002764 21S 4SWS VI Robot Motion Planning (IN2138)   Hilfe Logo

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Robot Motion Planning (IN2138) 
lecture with integrated exercises
Summer semester 2021
Informatics 6 - Chair of Robotics, Artificial Intelligence and Real-time Systems (Prof. Knoll)
(Contact information)
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The lecture discusses planning methods for mobile robots and manipulators. It explains planning methods in high dimensional planning spaces and the principles of data fusion from uncertain data sources.

Content of the lecture:
- Path planning with Bug algorithms
- Configuration Space
- Potential functions
- Roadmaps
- Cell Decompositions
- Sampling-based algorithms
- KALMAN Filtering
- Bayesian Methods
- robot dynamics
- Trajectory planning
vector analysis and good math knowledge
The goal is to learn the basic planning principles for robot motion in high dimensional spaces. The course discusses planning methods with complete knowledge about the environment and probabilistic approaches.
It discusses also methods for data fusion in context of operation with uncertain data sources.

A 1 hour tutorial is offered, where planning methods are implemented in Matlab and different applications of the discussed filter techniques are applied.
Für die Anmeldung zur Teilnahme müssen Sie sich in TUMonline als Studierende*r identifizieren.
H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun,
Principles of Robot Motion: Theory, Algorithms, and Implementations,
MIT Press, Boston, 2005
Online information
course documents