Robot navigation
R A Jarvis
6 points * 39 hours of lectures and practical work * Irregular availability * Clayton
Objectives The student is expected to acquire knowledge about the subsystem requirements of functional robot navigation systems, how these components are properly integrated and to develop critical judgement concerning the strengths and weaknesses associated with these methodologies in the context of various indoor and outdoor applications.
Synopsis Localisation methodologies including odometry, under-floor signals, on-floor markings, optical and ultrasonic beacon systems, natural landmarks; path planning methodologies including A*, Delaunnay tessellation, configuration space mappings, distance transforms, general cylinder pathways, higher dimensional implementations, time-varying situations; environmental modelling, natural landmark systems; complete robot navigation systems; application scope.
Assessment Examinations: 70% * Assignments: 30%
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