| Allgemeine Angaben |
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| Robot Motion Planning (IN2138) | | |
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| lecture with integrated exercises |
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| Angaben zur Abhaltung |
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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 |
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| vector analysis and good math knowledge |
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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. |
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A 1 hour tutorial is offered, where planning methods are implemented in Matlab and different applications of the discussed filter techniques are applied. |
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| Für die Anmeldung zur Teilnahme müssen Sie sich in TUMonline als Studierende*r identifizieren. |
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| Zusatzinformationen |
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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 |
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