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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 | ||