机器人技术:无人机

Robotics: Aerial Robotics

本课程是Robotics专项课程的其中一门课程(共 6 门课程)

宾夕法尼亚大学

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机器人技术:无人机

课程信息

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.

Robotics: Aerial Robotics是Robotics专项课程中的第1门课程(共6门课程)

The Robotics Specialization introduces you to how robots sense and reason about the world they live, how they plan three dimensional movements in a dynamic environment and how they fly or run while adapting to uncertainties in the environment. You will be exposed to real world examples with drones, legged robots and driverless cars. The courses build towards a capstone in which you will learn how to program robots to perform a variety of tasks in unstructured, dynamic environments. To see a video introduction from Penn Engineering’s Dean Vijay Kumar, please click here.

授课教师

Vijay Kumar
Nemirovsky Family Dean of Penn Engineering and Professor of Mechanical Engineering and Applied Mechanics
School of Engineering and Applied Science

授课大纲

第 1 周 Introduction to Aerial Robotics
1.1. Introduction
1.2. Energetics and System Design
Quiz: 1.1
Quiz: 1.2

第 2 周 Geometry and Mechanics
2.1. Quadrotor Kinematics
2.2 Quadrotor Kinematics – Supplementary Material
2.3. Quadrotor Dynamics
Quiz: 2.1
作业: 1-D Quadrotor Control

第 3 周 Planning and Control
3.1. Control
3.2. Planning
作业: 2-D Quadrotor Control
Quiz: 3

第 4 周 Advanced Topics
On-Board Estimation, Nonlinear Control, and Swarms
Quiz: 4
作业: 3-D Quadrotor Control

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