Curriculum

The following topics will be covered in this class:

Robot Motion

• Differential drive
• Ackermann steering
• Basic path planning

Sensors

• Encoders
• IMU
• Camera

Feedback control

• Why feedback?
• PID control

Odometry

• Encoders
• IMU
• Visual

Vision

• Open CV
• Obstacle avoidance
• Performance considerations

Embedded Systems

• Introduction to robotics
• Centralized vs. distributed control
• Closed loop vs. open loop control in mobile robots
• On-board, off-board computing vs. on-line-computing and hybrid mode
• Real-time systems vs. non-deterministic embedded systems
• Robotics telemetry - low range high throughput, long range low throughput

Autonomous Vehicle

• State-of-the-art