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Course unit, curriculum year 2020–2021
IHA-4306
Fundamentals of Mobile Robots, 5 cr
Tampere University
- Description
- Completion options
Teaching periods
Active in period 3 (1.1.2021–7.3.2021)
Active in period 4 (8.3.2021–31.5.2021)
Course code
IHA-4306Language of instruction
EnglishAcademic year
2020–2021Level of study
Intermediate studiesGrading scale
General scale, 0-5Persons responsible
Responsible teacher:
Risto RitalaResponsible teacher:
Reza GhabchelooResponsible organisation
Faculty of Engineering and Natural Sciences 100 %
Core content
- Deterministic planning methods: dynamic programming, Dijkstra, A*
- Bayesian filtering
- Localization using Kalman filters and particle filters.
- Occupancy grid mapping
- Sensor technologies (LiDAR, Radar, Sonar, Leddar, IMU, GNSS, UWB), sensor models (LiDAR, Sonar, IMU) and their uncertainty
- Motion control: path smoothing, path following and trajectory tracking
Complementary knowledge
- planning under uncertainty: solving MDP
- mathematics of probabilities
- world models and representations
- state space models, state feedback
Specialist knowledge
- How to convert continuous real world to discrete world suitable for planners.
POMDP - Simultaneous Localization and Mapping
Learning outcomes
Prerequisites
Further information
Studies that include this course
Completion option 1
Participation in teaching
13.01.2021 – 30.04.2021
Active in period 3 (1.1.2021–7.3.2021)
Active in period 4 (8.3.2021–31.5.2021)
Completion option 2
Participation in teaching
No scheduled teaching