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Robotic Path Planning and Task Execution

Robotic Path Planning and Task Execution

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

位教师：Nikolaus Correll

2,903 人已注册

包含在中

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5个模块

深入了解一个主题并学习基础知识。

18 条评论

中级等级

推荐体验

灵活的计划

4 周在 10 小时一周

自行安排学习进度

攻读学位

了解更多

5个模块

深入了解一个主题并学习基础知识。

18 条评论

中级等级

推荐体验

灵活的计划

4 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 discrete planning techniques such as Dijkstra and A* to compute optimal robot trajectories.
Implement complex sequences of behaviors using behavior trees.
Plan and implement a complex robotic controller for autonomous mobile manipulation behavior.

您将获得的技能

您将学习的工具

Python Programming

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作业

10 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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该课程共有5个模块

This course, which is the last and final course in the Introduction to Robotics with Webots specialization, will teach you basic approaches for planning robot trajectories and sequence their task execution. In "Robotic Path Planning and Task Execution", you will develop standard algorithms such as Breadth-First Search, Dijkstra's, A* and Rapidly Exploring Random Trees through guided exercises. You will implement Behavior Trees for task sequencing and experiment with a mobile manipulation robot "Tiago Steel".

It is recommended that you complete the first and second courses of this specialization, “Introduction to Robotics: Basic Behaviors” and "Robotic Mapping and Trajectory Generation" , 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 Path Planning and Task Execution. The first week in this course provides an introduction to path planning and presents a series of optimal algorithms for finding the shortest path on a graph that increase in complexity and efficiency. You will be introduced to various algorithms, including Bread-First Search to Dijkstra's and A*.

涵盖的内容

8个视频13篇阅读材料2个作业1个讨论话题

8个视频总计71分钟

Introduction to the Specialization2分钟
Meet the Instructor2分钟
Introduction to "Robotic Path Planning and Task Execution"1分钟
Path Planning29分钟
Graph Traversal using Breadth-First Search (BFS)8分钟
Shortest Path on a Graph with BFS9分钟
Shortest Path on a Grid with BFS9分钟
From BFS to Dijkstra's on a Graph13分钟

13篇阅读材料总计151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
Why Planning?5分钟
More on Graphs to Represent Computational Problems10分钟
The Shortest Path Problem10分钟
Graph Traversal15分钟
Dijkstra's Algorithm25分钟
A* - Dijkstra's with Heuristic15分钟
Decompression - The Micro Mouse Competition25分钟

2个作业总计250分钟

Planning on Graphs10分钟
Implementing a Planner240分钟

1个讨论话题总计10分钟

Introduce Yourself!10分钟

In this week, you will learn how to efficiently plan in non-grid worlds and in high-dimensional spaces.

涵盖的内容

1个视频4篇阅读材料4个作业

1个视频总计23分钟

Randomized Planning and Collision Avoidance23分钟

4篇阅读材料总计60分钟

Introduction to RRT10分钟
The RRT Algorithm20分钟
Collision Checking10分钟
Improving Optimality and Speed of RRT20分钟

4个作业总计380分钟

Hands-On: Implementing RRT220分钟
Hands-On: Implement Line-Based Collision Checking150分钟
AI Policy Quiz5分钟
Improving RRT5分钟

This week introduces you to a new programming abstraction known as "Behavior Trees", which offers solutions to shortcomings of Finite State Machines and simple reactive controllers.

涵盖的内容

1个视频4篇阅读材料2个作业1次同伴评审

1个视频总计31分钟

Behavior Trees31分钟

4篇阅读材料总计55分钟

Introduction20分钟
Parallel Nodes, Decorators and Blackboards15分钟
Exchanging Data Within BTs - Blackboards10分钟
Behavior Tree Libraries10分钟

2个作业总计190分钟

Sequence and Selector nodes10分钟
Hands-On: Implementing Behavior Trees180分钟

1次同伴评审总计240分钟

Mapping and Navigation with BTs240分钟

This week you will learn how to extend a mobile base with a robotic arm and trigger the ability to grasp objects.

涵盖的内容

1个视频2篇阅读材料2个作业

In this last week, you will complete a final project to demonstrate your knowledge of both this course and the entire specialization. It consists of implementing a complete mobile manipulation solution.