ROBO 201 Motion Planning Algorithms for Robotics

This course will teach you path planning algorithms for autonomous robot navigation. It will describe these concepts in the context of the ROS software system, and will present examples relevant to mobile robots and robot manipulators. You will learn to represent the robot environment using the configuration space, build occupancy grid maps of obstacles in the environment and use the maps for path planning. You will learn and implement some of the common search methods to find safe and optimal paths including graph?based methods, randomized planners and artificial potential fields. You will learn to design optimal, smooth paths and velocity profiles to navigate safely around obstacles. During the course, the student will implement path planning algorithms in computer simulations and on a lab based mobile robot, to enable the robot to move safely avoiding collisions with obstacles.

Credits

4

Prerequisite

MATH112 AND (COSC114 OR ENGR114 OR ENGR113 OR ENGR112)

Distribution

3-3-4

Offered

Fall

Notes