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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/basic-robotic-behaviors-and-odometry
课程评论：没有评论
课程名称：基本机器人行为与里程计 课程概述： 《基本机器人行为与里程计》为您提供关于自主移动机器人的介绍，包括前向运动学（“里程计”）、基本传感器和执行器，以及简单的反应行为。该课程以“Webots”这一真实物理模拟器为中心，您将在其中通过动手实验简单的反应行为，如防撞和跟踪线路、状态机以及非全能系统的基本前向运动学，来进行探索。 课程大纲： - 第一周：入门 本周欢迎您参加《基本机器人行为与里程计》课程，并提供机会让您自我介绍。您将了解整个课程的主要操作工具，即真实机器人模拟器“Webots”，并熟悉其主办网站，开始建立在模拟器中导航的基础。 - 第二周：传感器与执行器 本周介绍机器人移动和改变环境的设备（“执行器”），以及感知世界的设备（“传感器”）。 - 第三周：反应行为与状态机 在这一周，您将实验基本的反应机器人行为并理解任务执行的挑战。 - 第四周：坐标系统、自由度与前向运动学 本周，您将学习如何正式描述机器人的全球姿态，以及不同执行器如何影响这一姿态。 - 第五周：通过里程计和环路闭合进行定位 本周，您将学习如何跟踪执行命令，从而估计机器人的姿态。您将利用来自环境的信息来改进姿态估计，并理解“全能性”的概念。
Name:Getting Started
Description:Welcome to Basic Robotic Behaviors and Odometry. This week introduces the course and gives you an opportunity to introduce yourself. You will prepare for the rest of the course by learning about the main operation tool we will use throughout, the realistic robotics simulator "Webots". You will become familiar with Webots, its hosting website, and will begin to develop your foundation in navigating the simulator.
Name:Sensors and Actuators
Description:This week introduces the devices that allow robots to move and effectuate changes in their environment ("actuators"), as well as perceive their world ("sensors").
Name:Reactive Behaviors and State Machines
Description:In this week, you will experiment with basic reactive robotic behaviors and understand the challenges of task execution.
Name:Coordinate Systems, Degrees of Freedom and Forward Kinematics
Description:This week you will learn how to formally describe the global pose of a robot and how different actuators can affect this pose.
Name:Localization with Odometry and Loop Closure
Description:In this week, you will learn how to keep track of actuation commands and hence estimate the pose of your robot. You will use information from the environment to improve pose estimation and understand the concept of "holonomy".
"Basic Robotic Behaviors and Odometry" provides you with an introduction to autonomous mobile robots, including forward kinematics (“odometry”), basic sensors and actuators, and simple reactive behavior. This course is centered around exercises in the realistic, physics-based simulator, “Webots”, where you will experiment in a hands-on manner with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overar
