Air University

Faculty of Engineering
Department of Mechatronics Engineering

Path Planning in Mobile Robots

Course Code MT 461 Semester
Credit Hours 2-1-3 Pre-requisite Codes
Dr. Zafar Ullah Koreshi
Instructor Class
Engr. Noor ul Hassan
Office B Block Telephone
E-mail zafar@mail.au.edu.pk Office Hours
Engr. Umair Aziz
Lab Engineer Lab Engineer Email
Engr. Rayyan Azam
This course is prerequisite for : -

Books
Text Book J C Latombe Robot Motion Planning 1991
Reference Books
1. Frank L. Lewis, Optimal Control, 3rd edition, John Wiley & Sons
2. Steven M. LaValle, Planning Algorithms, Cambridge University Press, 2006 (soft copy available
3. Randy L. Haupt and Sue Ellen Haupt, Practical Genetic Algorithms, Second Edition, John Wiley
Inc., 2004.

Course Objectives

The course on path planning in mobile robots aims to give students of Mechatronics engineering an insight into optima
performance of robots in static and dynamic environments. The contents cover strong theoretical foundations of mathe
optimization and optimal control, as well as the development of algorithms for onboard computers in robots. After stu
course, a student should be well prepared to program mobile robots to move on optimal paths in the presence of obs

Course Learning Outcome

No CLO PLOs

To understand classical deterministic optimization as applied in path 1

planning of robots & to understand optimal tracking algorithms used by
1 (Engineering
robots designed to follow reference (prescribed) trajectories with input Knowledge)
controls.

To illustrate the use of deterministic and stochastic approaches in 2

2 optimization. (Problem Analysis)

To apply stochastic methods such as Genetic Algorithms (GA) and Random 3

3 Particle Optimization (RPO) for path planning of robots in static and (Design/Developm
dynamic environments. ent of Solution)
 Reproduce theoretical knowledge to obtain solutions based on 3
deterministic techniques such as method of Lagrange multiplier for
4 (Design/Developm
optimization of function and functional & stochastic techniques such as ent of Solution)
RPO and GA for optimal path planning of robots using MATLAB.

Trace theoretical knowledge to develop a link between theoretical 5

foundations of optimization and optimal control with the programming of
5 (Modern Tool
embedded systems in mobile robots using Modern Tools such as Quartus Usage)
and Qsys: System Design Tool.

5
To construct algorithms for microcontroller/FPGA based systems for
6 (Modern Tool
validation with theoretical estimates. Usage)

Course Description
This course introduces basic concepts of classical and non classical optimization techniques. Concepts of geom
analytical techniques are initially introduced to calculate the optimal solution. This is followed by deteministic
probabilistic techniques/algorithms to calculate the optimal distance between two points in static and dynamic envi
Algorithms studied and developed throughout the course are implemented on Micro-controllers and Field Programm
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, shortest distance
2 Evolutionary Methods: GA, PSO, ACO, SA
Online: Artificial Potential Field, Random Particle Optimization (RPO) methods, Genetic Algorithms

Optimization (of functions depending on independent variables) and Optimal solutions (depending on function
3 functions), Curves, tangents and primitive trajectories, constrained optimization; Hamiltonian and Lagrangian f

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

5 Random Particle Optimization (RPO)theory; Gaussian Distribution function

6 Students' Week

7 Glide and maneuver trajectory algorithm development for RPO

8 Optimal Tracking Algorithms; to follow reference trajectories with input controls.

9 Mid Term Examination

10 Genetic Algorithms (GA)
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 Dynamic Programming
16 Revision

Lab Plan
Week Topics

1 Introduction to Altera Qsys System Integration Tool; Create an LED controlled circuit using Qsys: System Integra

Optimization and Optimal Control, Surface and Contour Plots with objective function and constraints, calculatin
2 and minima on MATLAB.

3 Algorithm Development on MATLAB: Dubin's Car.

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

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

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

7 Algorithm Implementation: Random Particle Optimization (FPGA).

8 Lab Assesment

9 Genetic Algorithms for Function Optimization

Algorithm Development on MATLAB: Genetic Algorithm; Sampling from link points in off-line path planning and
10 population generation.

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

12 Algorithm Implementation: Genetic Algorithm (Micro-controller + FPGA)

13 Algorithm Development MATLAB: Dynamic Programming.

14 Optimal Control of Discrete-Time Systems

15 Assesment, Final Lab Review

Grading Scheme
1 Assignments + Quizzes 15%
2 Lab 20%
3 Mid-term Exam 20%
4 Final Exam 45%
ty
eering
nics Engineering

obile Robots
S 17
-

BEMTS F-13 A, B & C

ext 312
To be announced
umair.aziz@mail.au.edu.p
k

ohn Wiley & Sons

bridge University Press, 2006 (soft copy available)
Genetic Algorithms, Second Edition, John Wiley & Sons

Mechatronics engineering an insight into optimal

ts cover strong theoretical foundations of mathematics for
hms for onboard computers in robots. After studying this
o move on optimal paths in the presence of obstacles.

Level

C2 Theory Lab
(Comprehension)

C4
(Analysis)

C3
(Application)
 P3
(Guided Response)

P3
(Guided Response)

P4
(Mechanism)

l optimization techniques. Concepts of geometric and

mal solution. This is followed by deteministic as well as
between two points in static and dynamic environments.
ented on Micro-controllers and Field Programmable Gate

Assesment Plan

d non-holonomic systems.

tion methods, via points, shortest distance

(RPO) methods, Genetic Algorithms

s) and Optimal solutions (depending on functions of Quiz 1

ned optimization; Hamiltonian and Lagrangian formulation

ric optimal paths

on function Assignment 1

Week

Assignment 2
ith input controls. &
Quiz 2

amination

Assignment 3
Sampling methods Quiz 3
 Assignment 4
Quiz 4

LED controlled circuit using Qsys: System Integration Tool.

with objective function and constraints, calculating maxima

tion; "glide" phase.

tion; Glide and maneuver trajectory.

ro-controller).

A).

ment

ing from link points in off-line path planning and

over, mutation and next generation.

r + FPGA)

l Lab Review