自走式機器人

Mobile Robots

學期

113-1

學分

3 學分

當期課號

535317

永久課號

EECN30169

開課單位

電控工程研究所

授課教師

宋開泰

校區

光復

類別

選修

上課時間表

節	週五
2 09:00–09:50	自走式機器人 EE632 3 節連堂
3 10:10–11:00
4 11:10–12:00

* 根據陽明交大上課時間表所列

概述

This course is about design and applications of mobile robots. The course content includes theoretical part and experimental work. In the lectures, the basic theory about developing an autonomous mobile robot will be covered. In the experimental part, students will apply the learned theory in the class to build a mobile robot, which will be used for a final robot contest. The topics of this semester include control of DC motors, sensors and sensor interfacing, robot locomotion and structure, and behavior-based programming. Hands-on practices correspond to the taught theories will be carried out via course assignments in an organized manner using the constructed robot. So at the end of the course, each and every student will complete a robot for the final robot contest. All the robot-building material will be supplied in the class.

先修科目

Programming using C C++, or other languages

教學方式

URL:http://isci.cn.nctu.edu.tw

評分方式

1. Hands-on assignment x4 60% 2. Robot Final Contest 20% 3. Term Project 20%

週次計畫

週次	主題
第 1 週	Introduction to Autonomous Mobile Robots
第 2 週	Embedded Computing System with ROSRaspberry Pi Lab Practice
第 3 週	Check point 1: Raspberry Pi and ROS
第 4 週	Motion Control
第 5 週	Check point 2: Robot Motion Control
第 6 週	Locomotion & Mobile Robot Kinematics
第 7 週	Sensors and Batteries for Mobile Robots
第 8 週	Check Point 3 Obstacle Avoidance
第 9 週	Behavior-based robotics
第 10 週	Check point 4: Full Function Demonstration ,Term project proposal
第 11 週	Localization and Path Planning
第 12 週	Hockey Robot Contest
第 13 週	Term Project
第 14 週	Term Project
第 15 週	Term Project Demo & Presentation
第 16 週	Term Project report

教科書

1. Mobile Robots course note 2. Mobile Robots Inspiration to Implementation by Joseph L. Jones, Anita M. Flynn and Bruce A. Seiger, A.K. Peters, Ltd.

Office Hours

地點: EE709
時間: by appointment
聯絡方式: Email:ktsong@mail.nctu.edu.tw