MTE 544 - Autonomous Mobile Robots

Info

Midterm: Nov 4

Coordinate & Transformations

• Coordinate Transformation in 2D
  • Special Orthogonal Group
  • Special Euclidean Group
• Coordinate Transform for Velocity
• 3D Rotation Matrix
• Euler Angles
• 3D Angular Velocities
• Properties of SO(3) and so(3)
• Unit Quaternion

Motion Modeling

• Motion Model
• Two-Wheel Mobile Robot
• Four-Wheel Front Steer Robot
• Four-Wheel Differential Drive Robot
• Holonomic Mobile Robots

Labs

• MTE 544 Lab 1 Rubric