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Grenoble INP - UGA
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Ecole nationale supérieure de l'Énergie, l'Eau et l'Environnement
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Engineering school in energy, water and environment
Our engineering & master degrees
Our engineering & master degrees

> Study at Ense3 > Double degrees > E3-STU-COURSES

Mobile Robotics - WEUMROB0

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  • Number of hours

    • Lectures : 26.0
    • Tutorials : -
    • Laboratory works : 34.0
    • Projects : -
    • Internship : -
    • Written tests : -
    ECTS : 5.0
  • Officials : Ahmad HABLY

Goals

Robots are rapidly evolving from physically bounded to their work-cells, to increasingly complex machines capable of performing challenging tasks. The objective of this course is to provide the basic concepts and algorithms required to develop mobile robots that can act and evolve autonomously in complex environments.

Content

The course will be divided into 5 main parts:

1.Introduction, context, issues, markets, use, platforms, manufacturers (CM 2 hrs)
2.Modeling (mobile and Aerial robots)(CM 4 hrs ; BE 2 hrs)
a.Basis of rigid body representation in the 3D space
b.The different types of robots and drones
c.A first basic modeling
d.Advanced elements for the case of quadrotors
e.Computer session on the modelling of drones (BE 2hrs)
3.Perception for robots (CM 6 hrs)
a.Inertial and magnetic measurements (magneto, gyro, accelero), inertial/attitude units, barometer and encoder/odometer (CM 4hrs)
b.Depth sensors (sonar, infrared, lidar, ...) and vision (optical flow, mono, stereo) (CM 2hrs)
4.State estimation – localization – mapping (CM 10 hrs ; TP 4hrs)
a.Multi-sensor fusion for inertial/magnetic navigation via static and dynamic state estimation (Least squares algorithms, gradient algorithms, observers, Kalman filter, complementary filter, etc.) (CM 6 hrs)
b.Lab on attitude estimation (for example) with Matlab (simulated or real data) (BE 4 hrs)
c.Introduction to the localization problem and mapping (discrete Bayesian filter, particle filters, scan matching) (CM 2 hrs)
d.Detection of motion, detection of moving objects, tracking of moving objects (Olivier CM 2 hrs)
5.Control for robots
a.Trim control (CM 2hr)
b.Hovering flight (CM 2hr)
c.Trajectory generation and control (CM 2hr)
d.Multiple UAVs control (CM 2hr)
e.Computer session on the control of drones (Nicolas BE 8 hrs)
f.PID controller + Implementation and tests on robair (Olivier TP 4hrs)
6.ROS (TP 12hrs)
a.Introduction to ros
b.Using ROS with a mobile robot (laser data acquisition + control of mobile robot)
c.Detection/tracking of moving objects with a laser scanner
d.Localization – mapping with a mobile robot

Prerequisites

control, programming language

Tests

Partie estimation: des quizz en ligne en plus de la note des deux TPs.
Partie ROS: rendus de TP, un projet avec soutenance et démo.
Parite Drone: rendus de BE et un poster.

The exam is given in english only FR

Calendar

The course exists in the following branches:

see the course schedule for 2021-2022

Additional Information

Course ID : WEUMROB0
Course language(s): FR

You can find this course among all other courses.

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Date of update September 3, 2020

Université Grenoble Alpes