Please visit this link to access to some general purpose books and notes.
Let me highlight the invaluable booklet written by Luca Baglivo and other colleagues from Mechatronics Department at UNITN that is a real compendium of 2/3 of the course. Here almost the same book up to dated with notes made during the years.
Hereafter teaching and technical material mainly produced during the present 2023-2024 academic year:
PART I – WHEELED MOBILE ROBOTS
- [Wed, 25 September 2024] Slides of Lecture 1 “Kinematics – Part 1” (video):
- Autonomous and Wheeled Mobile Robots (WMRs) introduction.
- Mechanical and theoretical aspects of wheel modeling.
- Geometric and analytic introduction to unicycle, bicycle/car-like (FD and RD) mathematical constraints and other kinematic models.
- Mechanics constraints imposed by wheel configuration, WMR mobility, steerability and DOFs.
- Kinematics/mechanical classifications and some other tips, one might refer to this document.
- Moreover I would like to mention some slides about kinematics also in ppt format of colleagues which clarify some peculiar aspects of omnidirectional (3,0) WMR kinematics.
- Moreover, here there are some notes about Swedish wheels dynamics and application on mobile robots.
- [Thu, 26 September 2024] Slides of Lecture 2 “Kinematics – Part 2” (video):
- An introduction to Unicycle, Bicycle, Car-like and other kinematic models.
- About mechanics constraints of wheels, WMR mobility and steerability,
- Kinematics/mechanical classifications and some other tips, one might refer to this document.
- [Fri, 27 September 2024] Slides of Lecture 3 “Kinematics – Part 1 and 2 – MATLAB tutorial” (video):
- First Matlab tutorial about Unicycle kinematics, math models and dynamical system evolution.
- [Wed, 16 October 2024] Slides of Lecture 4 “Kinematics – Part 3” (video):
- We completed the kinematics model presentations that were still in Lecture 2 slides.
- [Wed, 23 October 2023] Slides of Lecture 5 “Kinematics – Part 3 – MATLAB tutorial” (video):
- Odometry localization with proprio-ceptive sensors.
- Second Matlab tutorial about non-trivial unicycle kinematics, Front- and Rear-Driven Car-like kinematics, etc.
- The slides will be delivered after the tutorial, in order to carry out the exercises.
PART II – PATH-PLANNING
- [Thu, 24 October 2024] Slides of Lecture 6 “Path planning (Part 1) and a Matlab tutorial” (video):
- Starting to link with the path/traj planning issues; a few controller structures are presented.
- Path and Trajectory “extension” is discussed and the approach correctly addressed with the introduction of the time scaling for kinematic models and the differential flatness for nonlinear dynamic systems.
- Point-to-point path planning in C-space vs W-space.
- Polynomial interpolation in both C-sapce vs W-space.
- Cubic polynomial interpolation in time, quintic polynomial interpolation ti fix initial and final positions, velocities and accelerations at once.
- Higher-order polynomial fitting to take advantage from specific WMR performance.
- [Fri, 25 October 2023] Slides of (FLASHFORWARD) Lecture 7 “PID controller and tuning with the Ziegler-Nichols approaches and MATLAB tutorial” (video):
- Dynamic Systems and PID controllers, system stability, transient and permanent regimes and other basic considerations.
- Introduction to the Ziegler-Nichols self-oscillation and step-response methods, calculations, results and system simulation.
- MATLAB code.
- [Wed, 30 October 2023] Slides of Lecture 6B “Path planning – Part 2 – The global planning with Artificial Potential Field and Matlab Tutorial” (video):
- Another short note of “Robot motion planning using exact cell decomposition and potential field methods” coding.
- Planning via artificial potentials + others.
- to be up to dated…
PART III – PATH AND MOTION CONTROL
- [Wed, 13 November 2024] Slides of Lecture 8 “Chained-form and MATLAB tutorial” (video):
- Introduction to system flatness vs. controllability vs. accessibility.
- Considerations about driftless systems.
- Nonlinear coordinate change, inputs re-redefinition and eigenvector “self-containing” span (meaning involutivity even without mentioning it!)
- Chained-form with polynomial inputs.
- Chained-form application to improve robustness (link).
- MATLAB tutorial.
- Further material about unicycle Point-to-point path planning (Minotto – De Cecco) in chained-form and and notes on its use with piecewise constant inputs.
- [Fri, 14 November 2024] Slides of Lecture 9 “Path-planning and motion (with a bit of control) with a Matlab Tutorial – Clothoids – Part3” (video):
- Clothoid’s approach.
- Roadmap building online-offline strategies (diagrams, graphs, potential fields.
- MATLAB tutorial with clothoid implementation.
- Continuous curvature slides in Italian (Baglivo – De Cecco).
WE ARE HERE NOW !
Old lecture about:
- [xxx, nn November 20yy] Slides of Lecture 10 “Roadmapping – Part 1: the global planning” (video):
- Canonical problem and C-Space
- Global planning via optimal searching algorithms
- A short note about “Voronoi Diagram Based Roadmap Motion Planning“.
- A few further notes about “Cell decomposition” (exact and approximated).
- [xxx, nn November 20yy] Slides of Lecture 11 “Path-following with Cubic Interpolator and feedback control and a Matlab Tutorial” (video).
- [xxx, nn November 20yy] Slides of Lecture 12 “Roadmapping with APF method and others – Part2” with a MATLAB tutorial (video):
- done !
In order to aim your efforts, I provide here a sample list of typical questions (STILL TO BE UP TO DATED).
Old “not” given lectures:
- Slides of Lecture 10 “Pure pursuit motion and control and a MATLAB tutorial” (video):
- About two-wheels kinematics and Heuristic-based control (e.g. bicycle and a rhombic cart).
- Further material about algebra and geometry of a 2-steerable and actuated wheel vehicle.
- An example in Matlab that implement the Pure Pursuit path control and another geometric method. Here the MATLAB files main file with two examples of control law
- Material is in the Mobile Robotics article here and here but you can find anywhere in the net other examples of heuristic controllers
- A link to an interesting document from Carnegie Mellon University.