Об этом курсе
4.5
Оценки: 1,753
Рецензии: 472
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....
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Approx. 24 hours to complete

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English

Субтитры: English...

Приобретаемые навыки

Motion PlanningRoboticsQuadcoperMatlab
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Только онлайн-курсы

Начните сейчас и учитесь по собственному графику.
Calendar

Гибкие сроки

Назначьте сроки сдачи в соответствии со своим графиком.
Clock

Approx. 24 hours to complete

Предполагаемая нагрузка: 4 hours/week...
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English

Субтитры: English...

Программа курса: что вы изучите

Week
1
Clock
2 ч. на завершение

Introduction to Aerial Robotics

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....
Reading
16 видео (всего 74 мин.), 4 материалов для самостоятельного изучения, 2 тестов
Video16 видео
Quadrotors3мин
Key Components of Autonomous Flight1мин
State Estimation7мин
Applications3мин
Meet the TAsмин
Basic Mechanics4мин
Dynamics and 1-D Linear Control10мин
Design Considerations3мин
Design Considerations (continued)4мин
Agility and Maneuverability7мин
Component Selection4мин
Effects of Size4мин
Supplementary Material: Introduction3мин
Supplementary Material: Dynamical Systems3мин
Supplementary Material: Rates of Convergence3мин
Reading4 материала для самостоятельного изучения
Setting up your Matlab programming environment10мин
Matlab Tutorials - Introduction to the Matlab Environment10мин
Matlab Tutorials - Programming Basics10мин
Matlab Tutorials - Advanced Tools10мин
Quiz2 практического упражнения
1.112мин
1.210мин
Week
2
Clock
5 ч. на завершение

Geometry and Mechanics

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....
Reading
19 видео (всего 117 мин.), 2 тестов
Video19 видео
Rotations4мин
Euler Angles12мин
Axis/Angle Representations for Rotations14мин
Angular Velocity9мин
Supplementary Material: Rigid-Body Displacements6мин
Supplementary Material: Properties of Functions3мин
Supplementary Material: Symbolic Calculations in Matlab4мин
Supplementary Material: The atan2 Function2мин
Supplementary Material: Eigenvalues and Eigenvectors of Matrices5мин
Supplementary Material: Quaternions2мин
Supplementary Material: Matrix Derivative1мин
Supplementary Material: Skew-Symmetric Matrices and the Hat Operator4мин
Formulation3мин
Newton-Euler Equations6мин
Principal Axes and Principal Moments of Inertia6мин
Quadrotor Equations of Motion5мин
Supplementary Material: State-Space Form4мин
Supplementary Material: Getting Started With the First Programming Assignment3мин
Quiz1 практическое упражнение
2.112мин
Week
3
Clock
4 ч. на завершение

Planning and Control

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. ...
Reading
9 видео (всего 65 мин.), 2 тестов
Video9 видео
3-D Quadrotor Control7мин
Time, Motion, and Trajectories9мин
Time, Motion, and Trajectories (continued)9мин
Motion Planning for Quadrotors12мин
Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations2мин
Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories5мин
Supplementary Material: Minimum Velocity Trajectories3мин
Supplementary Material: Linearization of Quadrotor Equations of Motion5мин
Quiz1 практическое упражнение
36мин
Week
4
Clock
4 ч. на завершение

Advanced Topics

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....
Reading
5 видео (всего 68 мин.), 2 тестов
Video5 видео
Nonlinear Control18мин
Control of Multiple Robots26мин
Adjourn1мин
Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin9мин
Quiz1 практическое упражнение
410мин
4.5
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54%

начал новую карьеру, пройдя эти курсы
Briefcase

83%

получил значимые преимущества в карьере благодаря этому курсу

Лучшие рецензии

автор: ITOct 23rd 2017

The course is very good.\n\nThe classes are well taught and show general concepts. It is necessary to do research on the internet, to solve the assignments. This is not a bad thing in my point of view

автор: STJun 9th 2018

I think this is very good course of aerial robotics research. Being a student of robotics, I feel that some of stuffs in this course needs a good background in control and mechanical engineering.

Преподаватель

Vijay Kumar

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

О University of Pennsylvania

The University of Pennsylvania (commonly referred to as Penn) is a private university, located in Philadelphia, Pennsylvania, United States. A member of the Ivy League, Penn is the fourth-oldest institution of higher education in the United States, and considers itself to be the first university in the United States with both undergraduate and graduate studies. ...

О специализации ''Robotics'

The Introduction to Robotics Specialization introduces you to the concepts of robot flight and movement, how robots perceive their environment, and how they adjust their movements to avoid obstacles, navigate difficult terrains and accomplish complex tasks such as construction and disaster recovery. You will be exposed to real world examples of how robots have been applied in disaster situations, how they have made advances in human health care and what their future capabilities will be. The courses build towards a capstone in which you will learn how to program a robot to perform a variety of movements such as flying and grasping objects....
Robotics

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  • Once you enroll for a Certificate, you’ll have access to all videos, quizzes, and programming assignments (if applicable). Peer review assignments can only be submitted and reviewed once your session has begun. If you choose to explore the course without purchasing, you may not be able to access certain assignments.

  • When you enroll in the course, you get access to all of the courses in the Specialization, and you earn a certificate when you complete the work. Your electronic Certificate will be added to your Accomplishments page - from there, you can print your Certificate or add it to your LinkedIn profile. If you only want to read and view the course content, you can audit the course for free.

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