Mobile Robotics (M2-MARS / ASI) - WEUMROB0

A+Augmenter la taille du texteA-Réduire la taille du texteImprimer le documentEnvoyer cette page par mail

Volumes horaires
- CM : 26.0
- TD : -
- TP : 34.0
- Projet : -
- Stage : -
- DS : -
Crédits ECTS : 5.0
Responsables : Ahmad HABLY

Objectifs

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.

Contenu

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

Prérequis

control, programming language

Contrôles des connaissances

Si situation 100% distancielle / If distant learning mandatory:
Evaluation rattrapable (ER) / ER assessment :
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 TP et un poster.
Evaluation non rattrapable (EN) / EN assessment : à voir

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.

L'examen existe uniquement en anglais

Calendrier

Le cours est programmé dans ces filières :

Cursus ingénieur - Master inter MARS - Semestre 9 (ce cours est donné uniquement en anglais )
Cursus ingénieur - Ingénieur ASI - Semestre 9 (ce cours est donné uniquement en anglais )