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UNIT I INTRODUCTION TO MOBILE ROBOTS 9

Introduction – History – Configuration Space - Motion Constraints – Kinematics of wheeled Mobile
Robots – Dynamics of Mobile Robots with Constraints – Mobile Robot Safety.

UNIT II MOBILE ROBOT SENSORS 9

Position Sensor – Velocity Sensor – Distance Sensor – Robot Vision – Optical Gyroscope – Compass –
GPS.

UNIT III ROBOT LOCALIZATION AND MOTION PLANNING 9

Relative Localization – Absolute Localization – Simultaneous Localization and Mapping - Operation of
Robot Navigation – Classification of Path Planning Methods – Model Based Robot Path Planning –
Mobile Robot Motion Planning – Mobile Robot Task Planning.

UNIT IV MOBILE ROBOT CONTROLLERS 9

General Robot Controllers - Sliding Mode Control of Mobile Robot – Fuzzy Control for Mobile Robot
– Position Based Vision Control – Image Based Vision Control

UNIT V APPLICATIONS OF MOBILE ROBOTS 9

Mobile Robot in Factory Automation – Mobile Telerobots – Micro Mobile Robots - Research Robots –
War Robots – Assistive Mobile Robots in Walking Rehabilitation Therapy – Mobile Robots for Home
Services.

TOTAL: 45 PERIODS

OUTCOMES:

After the completion of this course students will be able to

CO1. Understand the basics of Mobility in Robots along with its constraints
CO2. Compare the sensor performances and able to choose appropriate sensor based upon the
requirement
CO3. Perform Localization of Mobile Robot and its Path Planning.
CO4. Analyze the performances of different Controllers in Mobile Robots
CO5. Understand the different areas of Applications of Mobile Robots

TEXT BOOKS:

1. Spyros G Tzafestas, ―Introduction to Mobile Robot Control‖, Elsevier, 2014
2. Gregor Klancar, Andrej Zdesar, Saso Blazic, Igor Skrjanc, ―Wheeled Mobile Robotics: From
Fundamentals Towards Autonomous Systems‖, Butterworth Heinemann, 2017

REFERENCES:

1. Kevin M. Lynch, Frank C. Park, ―Modern Robotics‖, Cambridge University Press, 2017
2. Everett H.R., ―Sensors for Mobile Robots‖, CRC Press, 2010
3. Carlotta A. Berry, ―Mobile Robotics for Multidisciplinary Study‖, Morgan and Claypool, 2012

Curriculum and Syllabus | Open Electives | R 2017 | REC Page 85