Content, progress and pedagogy of the module

Learning objectives

Knowledge

• Must be able to understand 2D road maps, including visibility graphs and Voronoi diagrams
• Must be able to account for an optimal path in road maps
• Must be able to account for potential fields
• Must be insight into kinematic and holonomic constraints
• Must be able to explain path and trajectory
• Must be able to explain sampling based algorithms

Skills

• Must be able define work space and configuration space of rigid objects
• Must be able to construct simplification of configuration spaces
• Must be able to use grid-based search algorithms
• Must be able to use methods and metrics for evaluation of path tracking
• Must be able to do basic feedback control for path and trajectory tracking

Competences

• Must be able to design and implement motion and path planning algorithms

Type of instruction

See the general description of the types of instruction described in the introduction to Chapter 3.

Exam

Exams