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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/robotics-flight
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课程名称：机器人技术：空中机器人 课程概述：本课程将探讨如何创建能够自主在复杂室内和室外环境中操作的敏捷微型空中飞行器。您将学习飞行力学的基础知识和四旋翼飞行机器人的设计，能够开发动态模型、推导控制器以及合成计划以在三维环境中操作。课程还将探讨在复杂的三维环境中使用噪声传感器进行定位和机动的挑战，并通过真实案例了解快速发展的无人机行业的应用和挑战。 数学基础要求：学员应具备线性代数、一元微积分和微分方程的基础知识。 编程基础要求：建议有MATLAB或Octave的编程经验（本课程将使用MATLAB），需使用64位计算机。 课程大纲： 第一部分：空中机器人简介 在第一周，您将认识无人机（UAVs）领域，特别是四旋翼。您将学习基本的机械原理和控制策略，并认识到组件选择和设计如何影响飞行器的性能。此外，本周提供MATLAB下载和安装的指导，建议尽快熟悉MATLAB。 第二部分：几何与机械 在第二周，课程将专注于四旋翼的运动学，并学习推导四旋翼的动态运动方程。为增强理解，补充材料中还讨论了一些必要的数学工具。本周还将完成第一次编程作业，内容是1维四旋翼控制。 第三部分：规划与控制 第三周，您将进一步开发平面和三维四旋翼的动态模型，并学习如何为这些模型开发线性控制器。您需要完成第二次编程作业，重点是控制四旋翼在二维空间中的运动，本周还将结束于四旋翼的运动规划讨论。 第四部分：高级主题 在最后一周，我们将讨论如何使四旋翼执行更敏捷的机动和在团队中自主操作的高级内容。最后的编程作业将涉及三维四旋翼的控制，建议尽快开始该作业。
Part: 1
Title:Introduction to Aerial Robotics
Description:Welcome to Week 1! In this week, you will be introduced to the exciting field of Unmanned Aerial Robotics (UAVs) and quadrotors in particular. You will learn about their basic mechanics and control strategies and realize how careful component selection and design affect the vehicles' performance. This week also provides you with instructions on how to download and install Matlab. This software will be used throughout this course in exercises and assignments, so it is strongly recommended to familiarize yourself with Matlab soon. Tutorials to help you get started are also provided in this week.
Part: 2
Title:Geometry and Mechanics
Description:Welcome to Week 2 of the Robotics: Aerial Robotics course! We hope you are having a good time and learning a lot already! In this week, we will first focus on the kinematics of quadrotors. Then, you will learn how to derive the dynamic equations of motion for quadrotors. To build a better understanding on these notions, some essential mathematical tools are discussed in supplementary material lectures. In this week, you will also complete your first programming assignment on 1-D quadrotor control. If you have not done so already, please download, install, and learn about Matlab before starting the assignment.
Part: 3
Title:Planning and Control
Description:Welcome to Week 3! We have developed planar and three-dimensional dynamic models of the quadrotor. This week, you will learn more about how to develop linear controllers for these models. With this knowledge, you will be required to complete the second programming assignment of this course, which focuses on controlling the quadrotor in two dimensions. We encourage you to start working on the assignment soon. This week ends with a discussion on motion planning for quadrotors.
Part: 4
Title:Advanced Topics
Description:Welcome to Week 4! So far, we have gone over the basics of developing linear controllers for quadrotors and motion planning. In this last week of the course, we will discuss some more advanced material on how to enable quadrotors to perform more agile maneuvers and to operate autonomously in teams. Note that the last programming assignment on quadrotor control in three dimensions uses material from the previous weeks. It is strongly recommended to start the assignment as soon as possible.
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. Mathematical prerequisites: Students taking this course are expected to have some familiarity with linear algebra, single variable calculus, and differential equations. Programming prerequisites: Some experience programming with MATLAB or Octave is recommended (we will use MATLAB in this course.) MATLAB will require the use of a 64-bit computer.
