Download Intelligent Mobile Robotics

Intelligent Mobile Robotics
CS 490 Section 001
Fall 2002
Professor: Jerry B. Weinberg
Engineering Building, Room 3042
Office Hours: Tuesday 7:15 – 9 pm, Wednesday 10 am – 12 Noon
Email: [email protected]
Phone & Voice Mail: 650-2368
Teaching Assistant: Elizabeth Weber
Email: [email protected]
Time & Place: EB 0011, TR 2 –3:15
Prerequisites:
CS 340 (CS 250) with a C or better or consent of the instructor.
Course Description:
Robots are becoming a prevalent part of our society. There are industrial robots such as welding
robots in manufacturing plants, service robots such as robotic rescue workers, exploration robots
such as the Mars Rover, and entertainment robots such as AIBO.
An “intelligent mobile robot” is an integrated mechanical, electrical, and computational system
that can function autonomously in the physical world. Unbound from the shackles of the stationary desktop, a mobile robot must engender a variety of computational methods to manage navigation, perception, and problem solving to be able to complete meaningful tasks. This course will
survey a variety of computation methods for navigation, sensor interpretation, robot control, and
intelligent reasoning.
Objectives:
1. To study the concepts and implementation of robotic control structures including deliberative, reactive, and hybrid architectures
2. To study the computational mechanisms necessary for mobile navigation including dead reckoning, triangulation, and PID error correction
3. To study the computational mechanisms necessary for planning
4. To study the computational mechanisms necessary for sensory perception including obstacle
avoidance, landmark recognition, and mapping
Required Textbook: Introduction to AI Robotics by Robin Murphy
Additional reading will be assigned from technical journals
and conference proceedings.
Suggested Reading: Behavior Based Robotics by Ronald Arkin
Computational Principles of Mobile Robotics by G. Dudek & M. Jenkin
Mobile Robotics a Practical Introduction by Ulrich Nehmzow
Artificial Intelligence: A Modern Approach by S. Russell & P. Norvig
AI Topics Website: www.aaai.org/AITopics/html/robots.html
Programming:
Programming assignments will use the Eyebot Robots, which include IR sensors, color cameras,
and wireless communication modules for cooperative behavior. The course will also utilize the
P2-DX robot that includes sonar, color camera, and laser sensors. These robots are programmed
in C/C++ with special libraries available to access sensors and control motors.
To learn more about Eyebots go to: www.ee.uwa.edu.au/~braunl/eyebot/
To learn more about the P2-DX go to: robots.activmedia.com
Grading:
Midterm
Final
Topic Paper & Presentation
Programming Assignments
Project (demostations & presentation)
10%
10%
15%
40%
25%
Very Tentative Schedule:
Week
1
2&3
4
Topic
Overview of Robotics and Robot Control Architectures
Reactive Control Architectures
Robot Motion and Control
Reading
Murphy: Introduction, Chapter 1
Murphy: Chapters 3, 4, & 5
5
6
7&8
9
10 & 11
12
12
13
14 & 15
Deliberative Control Architectures
Murphy: Chapter 2
Sensors
Murphy: Chapter 6
Topic Paper Presentations & Midterm
Hybrid Control Architectures
Murphy: Chapter 7
Navigation
Murphy: Chapters: 9 & 10
Mapping
Murphy: Chapter 11
Multi-agent robotics
Murphy: Chapter 8
Robot Manipulators
Project Demonstrations and Presentations