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所在平台: Udemy |
课程主页: https://www.udemy.com/course/robot-control-for-safe-navigation/
课程评论：没有评论
**课程名称：** 机器人安全导航控制 **课程概述：** 本课程旨在解决在拥挤、动态的真实世界环境中部署移动机器人的挑战。我们将重点研究如何使机器人能够安全可靠地完成导航任务，即使在面对多移动体、不确定性以及需要在线规划的复杂场景下。 **核心内容：** * **安全集算法 (Safe Set Algorithm, SSA)：** 本课程将以 SSA 为核心安全控制器，用于监控和调整机器人动作，以应对自动驾驶和人机交互等安全关键任务。 * **传统安全策略的局限性：** 探讨简单安全策略的不足之处。 * **安全指数的应用：** 学习安全指数如何解决传统安全策略的问题。 * **控制约束与安全保障：** 掌握如何通过控制约束来保证系统的安全性。 * **理论与实践结合：** 不仅深入讲解安全控制算法的数学原理，还将指导学员如何编写安全控制器，并在模拟真实世界拥挤动态场景的挑战性环境中实现。通过编码实践，加深对算法的理解，并为未来应用到实际项目中打下基础。 **先修要求：** * **入门级机器人与控制课程：** 适合初学者，即使没有机器人导航经验，也能轻松入门。 * **数学基础：** 需要具备基本的数学导数知识。 * **Python 知识：** 了解 Python 基础将非常有帮助。 * **无强制性先修知识：** 无需具备机器人学或控制理论的先修知识。
Motivation of this course:Deploying mobile robots ubiquitously requires that they safely and reliably accomplish navigation tasks in crowded and dynamic real world settings. These settings are challenging since the robot system is expected to plan online, handle the uncertainty, and establish safe actions to avoid multiple moving agents. Course Content and Overview:On this course we will primarily use Safe Set Algorithm (SSA) as safe controller to keep monitoring and modifying actions for safety-critical tasks like autonomous driving and human robot interaction. You will learn the problem of naive safety strategy, how safety index solve the problem in naive method, and how to add constraints on control to guarantee safety. Besides the mathematics of safe control algorithms, I'll also show you how to code a safe controller and implement it in a challenging environment which simulate the real-world crowded and dynamic scenarios. The coding program would help you fully understand this algorithm and may apply it into your own applications.Requirements:This is a beginner robotics and control course - if you've never learned robot navigation before, this is a great starting place. No necessary control or robotics knowledge requirement, but require basic knowledge of math derivatives and some knowledge about python would be a great advantage.
