ECE 699
Dr. Gerald Cook
Prerequisites:
ECE 521 or equivalent
Course
to be offered Fall 2003, Thursday
Seven
mini-projects to be assigned with due dates each two weeks.
1.Kinematic models: models of differing fidelity and complexity, differential equations, discrete-time models, simulation of robot motion
2.Robot
Position Measurement and Navigation: GPS, IMU, Dead Reckoning using Encoders,
longitude and latitude, UTM coordinates, satellite visibility, performance
specifications.
3.Robot
Attitude Measurement: Notion of yaw, pitch and roll. Rotation matrices,
Inclinometer/Compass, Array of Multiple GPS receivers, Inertial Platform,
performance specifications
4.Robot
Control: Following a commanded heading or a commanded destination. Heading
control and speed control, control algorithms, analysis and practical
considerations, simulations, includes random disturbances
5.Application
of Kalman Filtering: Improved position estimates, inferred attitude estimates,
i.e. estimates of some states without measurements, improved attitude estimates
using measurements, comparison of inferential estimates with estimates based on
numerical differences, illustration through simulations.
6.Remote
Sensing: Radar, Infrared, Homogeneous Transformations, SAR image forming,
converting sensor coordinates to ground coordinates, projecting field of view
onto earth, geo-location of detected targets, effect of non-horizontal field of
view on accuracy of geo-location.
7.Pointing
of sensors at specific targets: Pan and tilt units, ranging lasers, computing
the pointing angle to a target, determination of ground coordinates of sensed
objects.
Project Questions for Mobile Robot Course