Course contents are reported at the link and summarised in the following:
- Introduction to robotic systems. Robotic system concept. The "feedback" control model. Overview of control models. Software layer of an autonomous robot.
- Dynamic Systems. Model of dynamic system. Representation with differential equation and integration examples. Canonical Inputs. Step response.
- High-order dynamic systems. State-space representation.
- Transfer function and stability. Laplace transform. Transfer function. Zeros and poles. Equilibrium. Simple and asymptotic stability. Instable systems. Composition of dynamic systems.
- Basics of automated control. Feedback control schema. PID controllers.
- Speed and position control of a DC motor. PWM and H-Bridge driving. Reading of position and speed with encoders. Speed loop. Position loop.
- Position control of a wheeled mobile robot. Cinematic model. Odometry. Control schemas.
- Mobile robot navigation. Navigation algorithms. Obstacle avoidance. Path planning.
- Behaviour of an autonomous root. Rule production systems. Knowledge and reasoning. Planning.