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Robotic Mapping and Trajectory Generation

Robotic Mapping and Trajectory Generation

本课程是 Introduction to Robotics with Webots 专项课程的一部分

位教师：Nikolaus Correll

2,707 人已注册

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5个模块

深入了解一个主题并学习基础知识。

14 条评论

中级等级

推荐体验

灵活的计划

3 周在 10 小时一周

自行安排学习进度

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5个模块

深入了解一个主题并学习基础知识。

14 条评论

中级等级

推荐体验

灵活的计划

3 周在 10 小时一周

自行安排学习进度

攻读学位

了解更多

您将学到什么

Use basic feedback control techniques for inverse kinematics of (non-)Holonomic mechanisms.
Apply coordinate transforms to multi-dimensional sensor signals.
Understand basic probabilistic representations to deal with uncertainty from measurement noise.

您将获得的技能

您将学习的工具

Python Programming

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作业

14 项作业

授课语言：英语（English）

91% of learners achieved a positive career outcome

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积累特定领域的专业知识

本课程是 Introduction to Robotics with Webots 专项课程专项课程的一部分

在注册此课程时，您还会同时注册此专项课程。

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获得对主题或工具的基础理解
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该课程共有5个模块

In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.

It is recommended that you complete the first course of this specialization, “Introduction to Robotics: Basic Behaviors”, before beginning this one. This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more: MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder

单元详情

Welcome to Robotic Mapping and Trajectory Generation. In this first week of the course, you will get started by being introduced to the class of "range finder" devices, which have important applications in mapping, as well as the concept of homogeneous transforms to perform coordinate transformations.

涵盖的内容

8个视频8篇阅读材料5个作业1个讨论话题

8个视频总计61分钟

Introduction to the Specialization2分钟
Meet the Instructor2分钟
Introduction to "Robotic Mapping and Trajectory Generation"1分钟
Range Finders and Homogeneous Transforms20分钟
Set Up a Range Finder in Webots7分钟
Range Sensing5分钟
Transforming 1D-Range Images into World Coordinates13分钟
Homogeneous Transforms11分钟

8篇阅读材料总计66分钟

Course Updates and Accessibility Support1分钟
Earn Academic Credit for your Work!10分钟
Course Support10分钟
Assessment Expectations10分钟
AI Citation and Acknowledgement10分钟
Course Activities5分钟
Laser Range Finders10分钟
About Homogeneous Transforms10分钟

5个作业总计160分钟

Homogeneous Transforms Practice20分钟
AI Policy Quiz5分钟
Hands On: Commissioning the Range Finder60分钟
Hands-On: Transforming World Coordinates in Webots45分钟
Range Finder Devices30分钟

1个讨论话题总计10分钟

Introduce Yourself!10分钟

In this week, you will begin to understand basic discrete map representations and their implementation.

涵盖的内容

2个视频4篇阅读材料3个作业1个插件

2个视频总计24分钟

Mapping18分钟
Basic Mapping: Overview6分钟

4篇阅读材料总计40分钟

Map Representations10分钟
Topological Maps10分钟
Grid Maps and Graphs10分钟
QuadTrees10分钟

3个作业总计276分钟

QuadTrees90分钟
Hands-On: Mapping Part I - Basic Mapping 180分钟
Topological Maps and Graphs6分钟

1个插件总计20分钟

Example QuadTree Implementation20分钟

This week introduces simple ways to encode obstacles in terms of probability, the concept of "configuration space", and a simple algorithm for collision checking.

涵盖的内容

1个视频3篇阅读材料2个作业

In this week you will learn to define a robot trajectory based on a series of waypoints and implement a basic proportional controller in Webots to navigate in a 2D environment.

涵盖的内容

4个视频4篇阅读材料4个作业

4个视频总计52分钟

Trajectory Following22分钟
Trajectory Following - Set Up6分钟
Trajectory Following - Computing Error12分钟
Control12分钟

4篇阅读材料总计50分钟

Trajectory Following10分钟
Euclidian Distance and Heading Error10分钟
Proportional Control10分钟
PID Control20分钟

4个作业总计225分钟

PID Control15分钟
Setup "supervisors" and markers in Webots45分钟
Hands-On: Distance and Heading Error45分钟
Control120分钟

In this module you will transfer your mapping and trajectory following skills to a commercial robotic platform in a kitchen environment, introducing you to additional constraints of sensor integration on a real robotic platform.