À propos de ce cours : How can we create agile micro aerial vehicles that are able to operate autonomously in cluttered indoor and outdoor environments? You will gain an introduction to the mechanics of flight and the design of quadrotor flying robots and will be able to develop dynamic models, derive controllers, and synthesize planners for operating in three dimensional environments. You will be exposed to the challenges of using noisy sensors for localization and maneuvering in complex, three-dimensional environments. Finally, you will gain insights through seeing real world examples of the possible applications and challenges for the rapidly-growing drone industry. Mathematical prerequisites: Students taking this course are expected to have some familiarity with linear algebra, single variable calculus, and differential equations. Programming prerequisites: Some experience programming with MATLAB or Octave is recommended (we will use MATLAB in this course.) MATLAB will require the use of a 64-bit computer.
Enseigné par : Vijay Kumar, Nemirovsky Family Dean of Penn Engineering and Professor of Mechanical Engineering and Applied Mechanics
School of Engineering and Applied Science
| Informations de base | Cours 1 de 6 dans Robotics Specialization |
| Engagement | 4 hours/week |
| Langue | English |
| Comment réussir | Réussissez tous les devoirs notés pour terminer le cours. |
| Notes des utilisateurs |
- Vidéo: Quadrotors
- Vidéo: Key Components of Autonomous Flight
- Vidéo: State Estimation
- Vidéo: Applications
- Vidéo: Meet the TAs
- Reading: Setting up your Matlab programming environment
- Reading: Matlab Tutorials - Introduction to the Matlab Environment
- Reading: Matlab Tutorials - Programming Basics
- Reading: Matlab Tutorials - Advanced Tools
- Vidéo: Basic Mechanics
- Vidéo: Dynamics and 1-D Linear Control
- Vidéo: Design Considerations
- Vidéo: Design Considerations (continued)
- Vidéo: Agility and Maneuverability
- Vidéo: Component Selection
- Vidéo: Effects of Size
- Vidéo: Supplementary Material: Introduction
- Vidéo: Supplementary Material: Dynamical Systems
- Vidéo: Supplementary Material: Rates of Convergence
- Vidéo: Rotations
- Vidéo: Euler Angles
- Vidéo: Axis/Angle Representations for Rotations
- Vidéo: Angular Velocity
- Vidéo: Supplementary Material: Rigid-Body Displacements
- Vidéo: Supplementary Material: Properties of Functions
- Vidéo: Supplementary Material: Symbolic Calculations in Matlab
- Vidéo: Supplementary Material: The atan2 Function
- Vidéo: Supplementary Material: Eigenvalues and Eigenvectors of Matrices
- Vidéo: Supplementary Material: Quaternions
- Vidéo: Supplementary Material: Matrix Derivative
- Vidéo: Supplementary Material: Skew-Symmetric Matrices and the Hat Operator
- Vidéo: Formulation
- Vidéo: Newton-Euler Equations
- Vidéo: Principal Axes and Principal Moments of Inertia
- Vidéo: Quadrotor Equations of Motion
- Vidéo: Supplementary Material: State-Space Form
- Vidéo: Supplementary Material: Getting Started With the First Programming Assignment
- Vidéo: 3-D Quadrotor Control
- Vidéo: Time, Motion, and Trajectories
- Vidéo: Time, Motion, and Trajectories (continued)
- Vidéo: Motion Planning for Quadrotors
- Vidéo: Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations
- Vidéo: Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories
- Vidéo: Supplementary Material: Minimum Velocity Trajectories
- Vidéo: Supplementary Material: Linearization of Quadrotor Equations of Motion
- Vidéo: Nonlinear Control
- Vidéo: Control of Multiple Robots
- Vidéo: Adjourn
- Vidéo: Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin
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| Acheter le cours | |
|---|---|
| Accéder au contenu du cours | Disponible |
| Accéder au contenu noté | Disponible |
| Recevoir une Note Finale | Disponible |
| Obtenir un Certificat de Cours partageable | Disponible |
I loved this aerial robotics course,I hope that upcoming courses will be further more interesting.
really interesting I learned a lot and it allows to create my own drone ..
The course was very detailed and gives some hands on experience in assignments. Thanks to Prof. Vijay Kumar and TAs for excellent explanation. The course is explained well step by step, however it doesn't spoon feed you. I wouldn't say It is very easy, however it depends on the person, but It requires little effort from the learner side to understand the concept well and apply it on the assignments and quizzes, this makes it more interesting. Some fluency in math and programming is helpful. Discussion forum is best tool if you get stuck somewhere. I had to watch the videos several times to get some topics, read slides and discussion forum. Things start becoming clear and make sense while completing assignments (It is well designed to cover important concepts and apply it). Overall, great course for those who love robotics and want to learn it. This course covers basics of an autonomous quad-copter, its kinematics, dynamics, control, planning, etc.Material provided is very helpful and is designed to clear concepts and connect all the nodes.
LD
Nice for digital controller researcher!