自走式機器人

Mobile Robots

學期

114-1

學分

3 學分

當期課號

535305

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 focuses on the design and applications of mobile robots. The content includes theoretical lectures and hands-on experimental work. In the lectures, basic theories about mobile robots are covered. In the experimental part, students will apply the learned theory to build a mobile robot step by step. The robot will be used for the final robot contest and term project demonstration. The topics include motion control, robotic sensors and interfacing, robot self-localization and behavior-based programming. Hands-on practices will be carried out in an organized manner using the self-constructed robot. At the final stage of the course, each and every student team will complete a robot for the final robot hockey contest and give a demonstration in the cool-robot show. All the robot parts will be supplied in the class. The students will build the robot and develop programs gradually for the robot.

先修科目

Programming using C C++, or other languages

教學方式

URL:http://isci.lab.nycu.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 ,Programming environment setup, Raspberry Pi Lab Practice
第 3 週	Motion Control
第 4 週	Check point 1: Raspberry Pi and ROS
第 5 週	Locomotion & Mobile Robot Kinematics
第 6 週	National Day (no Class)
第 7 週	Check point 2: Robot Motion Control
第 8 週	Sensors and Batteries for Mobile Robots
第 9 週	Check Point 3 Obstacle Avoidance
第 10 週	Behavior-based robotics & Behavior Fusion
第 11 週	Check point 4: Full Function Demonstration ,Term project proposal
第 12 週	Map-building,Localization and Path Planning
第 13 週	Hockey Robot Contest
第 14 週	Term Project Preparation
第 15 週	Term Project Demo &amp Presentation
第 16 週	Term Project report due

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@nycu.edu.tw