Course: EW451 Programming and Planning for Mobile Robots                    

3 Credits – 1 Recitation Hours – 4 Laboratory Hours

Course Description: 

This course explores the fundamentals of programming algorithms for planning and navigation of mobile robotic platforms. Topics covered include motion planning and kinematics, sensing, algorithm development, logic and state machines. Modern programming languages and communication middleware will be used to execute a series of robot navigation and planning challenges. Specific course offerings may include  ground, aerial, or surface vehicles based on availability and instructor expertise.

Pre-requisites: 

EW200 & EW202 or Department Chair Approval

Course Coordinator: 

Prof. Dawkins

Textbook: 

None

Course Objectives: 

1. Implement an algorithm for mobile robot planning and navigation in a high level programming language

2. Describe the importance of using  multiple processes and multiple threads in robot software

3. Appreciate the communication and networking requirements for mobile robots

4. Utilize a high fidelity robot simulator to prototype algorithms

5. Understand basic principles of path planning and trajectory design of autonomous vehicles

6. Interface exteroceptive sensors with a mobile robot to assist in localization, control, and path planning

7. Program a mobile robot to complete a given task completely autonomously

Topics: 

1. Programming - Python, interfacing sensors and hardware, logic and state machines, asynchronous programming

2. Planning - Mobile robot kinematics, motion primitives, waypoint navigation, path tracking

3. Navigation - Cost maps, localization, global planning algorithms, local planning algorithms