Wheeled Mobile Robots

By Prof. Asokan T, Prof. Santhakumar Mohan | IIT Madras, IIT Palakkad

Learners enrolled: 1618

Upon completion of the course, the students should able to:
• Learn algorithmic approaches, mathematical models and computational and motion control methods applicable to mobile robotic systems
• Learn basic sensor systems related to state measurements, navigation and localization.
• Learn different motion planning and navigation schemes related to mobile robots
• Recognize and analyze the basic mechanical and electrical systems concerning robots’ locomotion and manipulation
• Analyze and design the basic mobile robotic systems

INTENDED AUDIENCE : Undergraduate/graduate students interested in mobile robotics

PREREQUISITES : None

INDUSTRIES SUPPORT : None

Summary

Course Status :	Completed
Course Type :	Elective
Duration :	8 weeks
Category :	Mechanical Engineering Manufacturing Processes and Technology Product Design
Credit Points :	2
Level :	Undergraduate/Postgraduate
Start Date :	18 Jan 2021
End Date :	12 Mar 2021
Enrollment Ends :	01 Feb 2021
Exam Date :	21 Mar 2021 IST

Note: This exam date is subjected to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1:Introduction to mobile robots and mobile manipulators. Principle of locomotion and types of locomotion. Types of mobile robots: ground robots (wheeled and legged robots), aerial robots, underwater robots and water surface robots.

Week 2:Kinematics of wheeled mobile robot, degree of freedom and maneuverability, generalized wheel model, different wheel configurations, holonomic and non-holonomic robots.

Week 3: Dynamics of mobile robot: Lagrange-Euler and Newton-Euler methods. Computer based dynamic (numerical) simulation of different wheeled mobile robots.

Week 4:Sensors for mobile robot navigation: magnetic and optical position sensor, gyroscope, accelerometer, magnetic compass, inclinometer, tactile and proximity sensors, ultrasound rangefinder, laser scanner, infrared rangefinder, visual and motion sensing systems.

Week 5:Robot navigation: Localization, Error propagation model, Probabilistic map based loclaisation, Autonomous map building, Simultaneous localization and mapping (SLAM).

Week 6:Motion and path planning: collision free path planning and sensor-based obstacle avoidance.

Week 7: Motion control of mobile robots: Motion controlling methods, kinematic control, dynamic control and cascaded control.

Week 8:Introduction to modern mobile robots: Swarm robots, cooperative and collaborative robots, mobile manipulators, autonomous mobile robots.

Books and references

1. R Siegwart, IR Nourbakhsh, D Scaramuzza, Introduction to Autonomous Mobile Robots, MIT Press, USA, 2011.

2. SG Tzafestas, Introduction to Mobile Robot Control, Elsevier, USA, 2014.

3. A Kelly, Mobile Robotics: Mathematics, Models, and Methods, Cambridge University Press, USA, 2013.

4. S Thrun, W Burgard, D Fox, Probabilistic Robotics, MIT Press, USA, 2005.

5. G Dudek, M Jenkin, Computational Principles of Mobile Robotics, Cambridge University Press, USA, 2010.

Instructor bio

Prof. Asokan T

IIT Madras

Dr T Asokan is a Professor in the Department of Engineering Design, and currently the Head of the Department, at IIT Madras. He completed his B.Tech. and M.Tech. in mechanical engineering and received his Ph.D in Mechanical Engineering from the Indian Institute of Technology Madras. Prior to joining IIT Madras, he was with the Robotics Research Center, Nanyang Technological University, Singapore working in the area of robotic system development. He was awarded the Stanford-India biodesign fellowship by the Stanford University, USA in 2009 and has completed a post doctoral fellowship in medical device development at the Stanford University. He is currently the national secretary of The Robotics Society. He has more than 25 years of professional experience in research and teaching in the broad areas of Robotics, Product design, and Engineering System design. Dr Asokan has published more than 100 papers in International Journals and conferences and has filed 18 patents in India, USA, and Singapore. More details can be found at https://ed.iitm.ac.in/~asokan/

Prof. Santhakumar Mohan

IIT Palakkad

Dr. Santhakumar Mohan is an Associate professor in the department of Mechanical Engineering, Indian Institute of Technology Palakkad. He has more than 10 years of professional experience in teaching and research. He has been teaching the course on Wheeled mobile robots (shortly mobile robotics) for the last 7 years for both undergraduate and postgraduate students. He is active in the design and development of mobile robots for field applications and has 4 patents filed in India. For more details please visit the webpage(https://iitpkd.ac.in/people/santhakumar).

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.
The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).
Date and Time of Exams: 21 March 2021 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.
Registration url: Announcements will be made when the registration form is open for registrations.
The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.
Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 6 assignments out of the total 8 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IIT Madras .It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team

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