ME 228 Robot Planning and Control

Autonomous robots are designed to perform assigned tasks with minimal human supervision. This requires the robot’s capabilities to perceive its surroundings to find its own location and identify obstacles to avoid and destination to reach, and to compute a trajectory and control its motors to maneuver toward its destination along the trajectory. For this reason, robotics scientists and engineers should have keen understanding of operations of sensors and actuators and foundations of control and planning to realize autonomy of robotic systems. This course introduces the basic tenets of robot planning and control and related concepts in localization, sensing, and perception. Key modules of the course are organized to answer the following questions: 1) how to
develop mathematical representation of robot motion, 2) how to design feedback systems to control robots, and 3) how to plan and compute trajectories for robots to perform given tasks. Students are expected to develop high confidence and skill sets in modeling dynamics and designing planning and control algorithms for robotic systems. Numerous examples of robotic systems will be discussed, and physics simulators will be used to demonstrate and also for student participation to learn how robot planning and control algorithms can be designed and implemented.



Cross Listed Courses

ECE 275


ECE 271A