Courses / theory

Kinematics of Mobile Robots

intermediate~12 hours11 lessonsEnvironment: pyodide

Prerequisites: maths-for-robotics

Start: Wheel types and drive configurationsPractice questions

Modules

Module 1 — Wheeled locomotion
  1. 1Wheel types and drive configurations
  2. 2Holonomic vs non-holonomic
  3. 3Widget: drive configuration comparator
Module 2 — Differential drive
  1. 1The diff-drive kinematic model
  2. 2Forward kinematics: wheels to motion
  3. 3Inverse kinematics: motion to wheels
  4. 4Widget: diff-drive simulator
Module 3 — Odometry
  1. 1Encoders to pose estimates
  2. 2Dead reckoning and drift
  3. 3Odometry error models
  4. 4Project: odometry estimator in NumPy

Textbooks

  • Introduction to Autonomous Mobile Robots — Siegwart, Nourbakhsh & Scaramuzzabook

Video resources

  • Mobile robotics lectures — Cyrill Stachniss