Prof. Dr. Karsten Berns

M. Sc. Jörg Husemann

Slides:

01_Overview

02_AMR_Systems

03_Sensor_Systems

04_1_Modeling

04_2_Dynamics

04_3_Trajectory_Modeling

05_Feature_Extraction

06_Localization

07_Mapping

08_SLAM

09_Navigation

10_Control_Architectures

Exercises:

01_Exercise

02_Exercise

03_Exercise

04_Exercise

05_Exercise

06_Exercise

07_Exercise

08_Exercise

09_Exercise

10_Exercise

Solutions:

01_Solution

Attention! As promised, the solution sheets for exercise 1 are offered for download. For the other exercises, the solutions are not offered for download.

Lecture cancellation:

As replacement for the cancelled lectures of this week (20.06. and 21.06.) Videos can be found in Panopto. The lecture will continue next week with the chapter Localization.

Autonomous mobile robots (AMR) can be defined as robots able to navigate through the environment in an autonomous way while performing goal-oriented tasks. They can be classified according to their operational environment into unmanned ground vehicles (UGVs), unmanned water vehicles (UWVs), autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs).

In the context of the lecture Autonomous Mobile Robots (AMR), basic techniques and methods are introduced.

Starting with the definition, applications, and the history of AMR, important areas like

• Sensor Systems
• Feature Extraction and Object Recognition
• Modelling
• Localization
• Mapping
• Navigation
• Control Architectures

are covered. Although this lecture focuses on UGVs, most methods can also be transferred to other types of AMRs.

Inhalte der Vorlesung Grundlagen der Robotik (INF-60-02-V-4)

Zusätzliche Literatur wird während der Vorlesung und den Übungen genannt.