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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/robotics-capstone
课程评论：没有评论
课程名称：机器人技术：顶点项目 课程概述：在为期六周的机器人技术顶点项目中，学员将有机会根据机器人专业课程所学内容，实施解决现实世界问题的方案。学员将使用研究人员在机器人实验室中采用的数学和编程方法。课程提供两条学习轨道供选择：在模拟轨道中，学员将使用MATLAB模拟移动倒立摆（MIP）；而在硬件轨道中，学员需要购买并组装一个探测车套件，以及树莓派、摄像头和IMU，以使探测车能够在自己的环境中自主导航。 通过动手编程的经验，学员将掌握机器人运动、规划和感知的基础知识，并能够将这些知识转化为解决实际问题的多种应用。完成此顶点项目将有助于学员更好地进入机器人领域，以及其他多个因机器人技术而不断发展的职业方向。 课程安排： 第1周 - 介绍 - MIP轨道：使用MATLAB进行动态仿真 - AR轨道：Dijkstra算法与购买套件 - 测验与编程作业 第2周 - MIP轨道：二阶系统的PD控制 - AR轨道：组装探测车 - 测验 第3周 - MIP轨道：使用扩展卡尔曼滤波器从IMU获取标量方向 - AR轨道：标定 - 测验 第4周 - MIP轨道：建模移动倒立摆 - AR轨道：为探测车设计控制器 - 测验及同行评分作业 第5周 - MIP轨道：移动倒立摆的局部线性化及线性控制 - AR轨道：状态估计的扩展卡尔曼滤波器 - 测验及同行评分作业 第6周 - MIP轨道：移动倒立摆的反馈运动规划 - AR轨道：集成 - 测验及同行评分作业 本课程为希望在机器人行业中发展的人士提供了宝贵的实践经验，帮助他们掌握相关技能并为未来的职业生涯奠定基础。
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Title:Week 1: Lesson Choices
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Title:Week 2: Lesson Choices
Description:Choice 2: Please make sure you complete the soldering and flashing before assembly.
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Title:Week 3: Lesson Choices
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Title:Week 4: Lesson Choices
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Title:Week 5: Lesson Choices
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Title:Week 6: Lesson Choices
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In our 6 week Robotics Capstone, we will give you a chance to implement a solution for a real world problem based on the content you learnt from the courses in your robotics specialization. It will also give you a chance to use mathematical and programming methods that researchers use in robotics labs. You will choose from two tracks - In the simulation track, you will use Matlab to simulate a mobile inverted pendulum or MIP. The material required for this capstone track is based on courses in mobility, aerial robotics, and estimation. In the hardware track you will need to purchase and assemble a rover kit, a raspberry pi, a pi camera, and IMU to allow your rover to navigate autonomously through your own environment Hands-on programming experience will demonstrate that you have acquired the foundations of robot movement, planning, and perception, and that you are able to translate them to a variety of practical applications in real world problems. Completion of the capstone will better prepare you to enter the field of Robotics as well as an expansive and growing number of other career paths where robots are changing the landscape of nearly every industry. Please refer to the syllabus below for a week by week breakdown of each track. Week 1 Introduction MIP Track: Using MATLAB for Dynamic Simulations AR Track: Dijkstra's and Purchasing the Kit Quiz: A1.2 Integrating an ODE with MATLAB Programming Assignment: B1.3 Dijkstra's Algorithm in Python Week 2 MIP Track: PD Control for Second-Order Systems AR Track: Assembling the Rover Quiz: A2.2 PD Tracking Quiz: B2.10 Demonstrating your Completed Rover Week 3 MIP Track: Using an EKF to get scalar orientation from an IMU AR Track: Calibration Quiz: A3.2 EKF for Scalar Attitude Estimation Quiz: B3.8 Calibration Week 4 MIP Track: Modeling a Mobile Inverted Pendulum (MIP) AR Track: Designing a Controller for the Rover Quiz: A4.2 Dynamical simulation of a MIP Peer Graded Assignment: B4.2 Programming a Tag Following Algorithm Week 5 MIP Track: Local linearization of a MIP and linearized control AR Track: An Extended Kalman Filter for State Estimation Quiz: A5.2 Balancing Control of a MIP Peer Graded Assignment: B5.2 An Extended Kalman Filter for State Estimation Week 6 MIP Track: Feedback motion planning for the MIP AR Track: Integration Quiz: A6.2 Noise-Robust Control and Planning for the MIP Peer Graded Assignment: B6.2 Completing your Autonomous Rover
