Air University

Faculty of Engineering
Department of Mechatronics Engineering

Path Planning in Mobile Robots

Course Code : MT 461 Semester :
Credit Hours : 2+1 Pre-requisite Codes :
Dr. Zafar Ullah Koreshi
Instructor : Class :
Engr. Noor ul Hassan
Office : B Block Telephone :

E-mail : Office Hours :

zafar@mail.au.edu.pk

Lab Engineer : Engr. Umair Aziz Lab Engineer Email :

This course is prerequisite for :

Books
Text Book : J C Latombe Robot Motion Planning 1991 (soft copy available)
Reference Books : 1. Steven M. LaValle, Planning Algorithms, Cambridge University Press, 200
copy available)
2. Randy L. Haupt and Sue Ellen Haupt, Practical Genetic Algorithms, Second
Edition, John Wiley & Sons Inc., 2004.

Course Objectives
Theory: To understand the difference between optimal and optimization, learn optimization techniq
and algorithm development.
Lab: To create an FPGA based system for algorithm implementation.

Course Description
This course introduces basic concepts of classical and non classical optimization techniques. Conc
geometric and analytical techniques are initially introduced to calculate the optimal path. This is
by deteministic as well as probabilistic techniques/algorithms to calculate the optimal distance b
two points in static or uncertain environments. Algorithms studied and developed throughout the
are practically implemented on the Field Programmable Gate Array (FPGA) in laboratory.

Lecture Plan
Week Topics

1 Introduction to Path Planning of Mobile Robots, holonomic and non-holonomic systems.

Categories of Algorithms (on-line and off-line)

Offline: Classical methods: Graphical methods, Cell-decomposition methods, via points, sho
2 distance
Evolutionary Methods: GA, PSO, ACO, SA
Online: Artificial Potential Field, Random Particle Optimization (RPO) methods, Genetic Algo
 Optimization (of functions depending on independent variables) and Optimal solutions (dep
3
on functions of functions), Curves, tangents and primitive trajectories

4 Optimal Path Algorithm development, Dubins Car and geometric optimal paths

5 Random Particle Optimization theory; Gaussian Distribution function

6 Glide and maneuver trajectory algorithm development

7 Continuous to Discreet ?????????

8 Revision

9 Mid Term Examination.

10 Genetic Algorithms
11 Genetic Optimization of functions

12 Random variables, Probability distribution functions (PDF, CDF) Sampling methods

13 Genetic Algorithms for Optimal Path of Mobile Robots

14 Dynamic Programming
15 Path planning of Humanoids
16 Revision

Lecture Plan (Lab)

Week Topics
Introduction to Altera Qsys System Integration Tool; Create an LED controlled circuit using Q
1
System Integration Tool.
Optimization and Optimal Control, Surface and Contour Plots with objective function and
2
constraints, calculating maxima and minima on MATLAB.

3 Dubin's Car; Algorithm Development on MATLAB.

4 Algorithm Development on MATLAB: Randon Particle Optimization; The "maneuver" phase.

5 Algorithm Development on MATLAB: Randon Particle Optimization; Glide and maneuver tra

6 Algorithm Implementation: Randon Particle Optimization (Micro-controller).

7 Algorithm Implementation: Randon Particle Optimization (FPGA).
8 Lab Assesment
9 Midterms
Algorithm Development on MATLAB: Genetic Algorithm; Sampling from link points in off-line
10
planning and population generation.

11 Algorithm Development on MATLAB: Genetic Algorithm; Cross over, mutation and next gen

12 Algorithm Implementation: Genetic Algorithm (Micro-controller).

13 Algorithm Implementation: Genetic Algorithm (FPGA).
14 Algorithm Development MATLAB: Dynamic Programming.
15 Assesment, Final Lab Review
 Grading Scheme
1 Assignments + Quizzes 15%
2 Lab 20%
3 Mid-term Exam 20%
4 Final Exam 45%
 Air University
ulty of Engineering
of Mechatronics Engineering

ning in Mobile Robots

S 17
-
BEMTS F-13 A, B
&C
ext 312

To be announced

umair.aziz@mail.
au.edu.pk

otion Planning 1991 (soft copy available)

Planning Algorithms, Cambridge University Press, 2006 (soft

d Sue Ellen Haupt, Practical Genetic Algorithms, Second

Sons Inc., 2004.

en optimal and optimization, learn optimization techniques

orithm implementation.

ssical and non classical optimization techniques. Concepts of

ially introduced to calculate the optimal path. This is followed
niques/algorithms to calculate the optimal distance between
ts. Algorithms studied and developed throughout the course
rammable Gate Array (FPGA) in laboratory.

Topics

le Robots, holonomic and non-holonomic systems.

d off-line)
methods, Cell-decomposition methods, via points, shortest

O, SA
dom Particle Optimization (RPO) methods, Genetic Algorithms
g on independent variables) and Optimal solutions (depending
angents and primitive trajectories

t, Dubins Car and geometric optimal paths

; Gaussian Distribution function

ithm development

ution functions (PDF, CDF) Sampling methods

of Mobile Robots

Topics
ntegration Tool; Create an LED controlled circuit using Qsys:

urface and Contour Plots with objective function and

minima on MATLAB.

on MATLAB.

Randon Particle Optimization; The "maneuver" phase.

Randon Particle Optimization; Glide and maneuver trajectory.

Particle Optimization (Micro-controller).

Particle Optimization (FPGA).
Lab Assesment
Midterms
Genetic Algorithm; Sampling from link points in off-line path

Genetic Algorithm; Cross over, mutation and next generation.

Algorithm (Micro-controller).
Algorithm (FPGA).
namic Programming.