CENG0053 Robot Motion Planning

6 ECTS - 3-0 Duration (T+A)- . Semester- 3 National Credit

Information

Code CENG0053
Name Robot Motion Planning
Term 2023-2024 Academic Year
Semester . Semester
Duration (T+A) 3-0 (T-A) (17 Week)
ECTS 6 ECTS
National Credit 3 National Credit
Teaching Language İngilizce
Level Yüksek Lisans Dersi
Type Normal
Mode of study Yüz Yüze Öğretim
Catalog Information Coordinator Dr. Öğr. Üyesi Barış ATA


Course Goal / Objective

This course aims to provide an in-depth study of robot motion-planning techniques that enable robots to move autonomously in complex and dynamic environments.

Course Content

This course covers the theory of robot motion planning, including path planning and trajectory generation for robotic systems. Topics include search-based algorithms, sampling-based algorithms, optimization-based methods, and motion planning under uncertainty.

Course Precondition

Familiarity with robotics basics and programming.

Resources

"Planning Algorithms" by Steven M. LaValle

Notes

"Robot Modeling and Control" by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar "Modern Robotics: Mechanics, Planning, and Control" by Kevin M. Lynch and Frank C. Park


Course Learning Outcomes

Order Course Learning Outcomes
LO01 Understand the principles of robot motion planning
LO02 Analyze the kinematics and dynamics of robot motion
LO03 Design and implement path planning algorithms for different types of robots
LO04 Generate trajectories and perform motion control for robots


Relation with Program Learning Outcome

Order Type Program Learning Outcomes Level
PLO01 Bilgi - Kuramsal, Olgusal On the basis of the competencies gained at the undergraduate level, it has an advanced level of knowledge and understanding that provides the basis for original studies in the field of Computer Engineering. 4
PLO02 Bilgi - Kuramsal, Olgusal By reaching scientific knowledge in the field of engineering, he/she reaches the knowledge in depth and depth, evaluates, interprets and applies the information. 3
PLO03 Yetkinlikler - Öğrenme Yetkinliği Being aware of the new and developing practices of his / her profession and examining and learning when necessary. 2
PLO04 Yetkinlikler - Öğrenme Yetkinliği Constructs engineering problems, develops methods to solve them and applies innovative methods in solutions. 2
PLO05 Yetkinlikler - Öğrenme Yetkinliği Designs and applies analytical, modeling and experimental based researches, analyzes and interprets complex situations encountered in this process. 4
PLO06 Yetkinlikler - Öğrenme Yetkinliği Develops new and / or original ideas and methods, develops innovative solutions in system, part or process design.
PLO07 Beceriler - Bilişsel, Uygulamalı Has the skills of learning. 2
PLO08 Beceriler - Bilişsel, Uygulamalı Being aware of new and emerging applications of Computer Engineering examines and learns them if necessary. 1
PLO09 Beceriler - Bilişsel, Uygulamalı Transmits the processes and results of their studies in written or oral form in the national and international environments outside or outside the field of Computer Engineering.
PLO10 Beceriler - Bilişsel, Uygulamalı Has comprehensive knowledge about current techniques and methods and their limitations in Computer Engineering. 1
PLO11 Beceriler - Bilişsel, Uygulamalı Uses information and communication technologies at an advanced level interactively with computer software required by Computer Engineering. 2
PLO12 Bilgi - Kuramsal, Olgusal Observes social, scientific and ethical values in all professional activities. 2


Week Plan

Week Topic Preparation Methods
1 Introduction to Robot Motion Planning Reading the lecture notes Öğretim Yöntemleri:
Anlatım
2 Kinematics of Robot Motion - Robot kinematics basics Reading the lecture notes Öğretim Yöntemleri:
Anlatım
3 Kinematics of Robot Motion - Inverse kinematics Reading the lecture notes Öğretim Yöntemleri:
Anlatım
4 Dynamics of Robot Motion - Robot dynamics basics Reading the lecture notes Öğretim Yöntemleri:
Anlatım
5 Dynamics of Robot Motion - Simulation of robot dynamics Reading the lecture notes Öğretim Yöntemleri:
Anlatım
6 Path Planning I Reading the lecture notes Öğretim Yöntemleri:
Anlatım
7 Path Planning II Reading the lecture notes Öğretim Yöntemleri:
Anlatım
8 Mid-Term Exam Reading the lecture notes Ölçme Yöntemleri:
Yazılı Sınav
9 Trajectory Generation I Reading the lecture notes Öğretim Yöntemleri:
Anlatım
10 Trajectory Generation II Reading the lecture notes Öğretim Yöntemleri:
Anlatım
11 Motion Control I Reading the lecture notes Öğretim Yöntemleri:
Anlatım
12 Motion Control II Reading the lecture notes Öğretim Yöntemleri:
Anlatım
13 Real-Time Systems for Motion Planning I Reading the lecture notes Öğretim Yöntemleri:
Anlatım
14 Real-Time Systems for Motion Planning II Reading the lecture notes Öğretim Yöntemleri:
Anlatım
15 Applications and Case Studies Reading the lecture notes Öğretim Yöntemleri:
Anlatım
16 Term Exams Reading the lecture notes Ölçme Yöntemleri:
Yazılı Sınav
17 Term Exams Reading the lecture notes Ölçme Yöntemleri:
Yazılı Sınav


Student Workload - ECTS

Works Number Time (Hour) Workload (Hour)
Course Related Works
Class Time (Exam weeks are excluded) 14 3 42
Out of Class Study (Preliminary Work, Practice) 14 5 70
Assesment Related Works
Homeworks, Projects, Others 0 0 0
Mid-term Exams (Written, Oral, etc.) 1 14 14
Final Exam 1 28 28
Total Workload (Hour) 154
Total Workload / 25 (h) 6,16
ECTS 6 ECTS

Update Time: 23.05.2023 01:01