课程信息
4.5
1,772 个评分
475 个审阅
专项课程

第 1 门课程(共 6 门),位于

100% online

100% online

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

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完成时间(小时)

完成时间大约为25 小时

建议:4 hours/week...
可选语言

英语(English)

字幕:英语(English)...

您将获得的技能

Motion PlanningRoboticsQuadcoperMatlab
专项课程

第 1 门课程(共 6 门),位于

100% online

100% online

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
完成时间(小时)

完成时间大约为25 小时

建议:4 hours/week...
可选语言

英语(English)

字幕:英语(English)...

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 2 小时

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 个视频(共 74 分钟), 4 个阅读材料, 2 个测验
Video16 个视频
Quadrotors3分钟
Key Components of Autonomous Flight1分钟
State Estimation7分钟
Applications3分钟
Meet the TAs分钟
Basic Mechanics4分钟
Dynamics and 1-D Linear Control10分钟
Design Considerations3分钟
Design Considerations (continued)4分钟
Agility and Maneuverability7分钟
Component Selection4分钟
Effects of Size4分钟
Supplementary Material: Introduction3分钟
Supplementary Material: Dynamical Systems3分钟
Supplementary Material: Rates of Convergence3分钟
Reading4 个阅读材料
Setting up your Matlab programming environment10分钟
Matlab Tutorials - Introduction to the Matlab Environment10分钟
Matlab Tutorials - Programming Basics10分钟
Matlab Tutorials - Advanced Tools10分钟
Quiz2 个练习
1.112分钟
1.210分钟
2
完成时间(小时)
完成时间为 5 小时

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 个视频(共 117 分钟), 2 个测验
Video19 个视频
Rotations4分钟
Euler Angles12分钟
Axis/Angle Representations for Rotations14分钟
Angular Velocity9分钟
Supplementary Material: Rigid-Body Displacements6分钟
Supplementary Material: Properties of Functions3分钟
Supplementary Material: Symbolic Calculations in Matlab4分钟
Supplementary Material: The atan2 Function2分钟
Supplementary Material: Eigenvalues and Eigenvectors of Matrices5分钟
Supplementary Material: Quaternions2分钟
Supplementary Material: Matrix Derivative1分钟
Supplementary Material: Skew-Symmetric Matrices and the Hat Operator4分钟
Formulation3分钟
Newton-Euler Equations6分钟
Principal Axes and Principal Moments of Inertia6分钟
Quadrotor Equations of Motion5分钟
Supplementary Material: State-Space Form4分钟
Supplementary Material: Getting Started With the First Programming Assignment3分钟
Quiz1 个练习
2.112分钟
3
完成时间(小时)
完成时间为 4 小时

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 个视频(共 65 分钟), 2 个测验
Video9 个视频
3-D Quadrotor Control7分钟
Time, Motion, and Trajectories9分钟
Time, Motion, and Trajectories (continued)9分钟
Motion Planning for Quadrotors12分钟
Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations2分钟
Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories5分钟
Supplementary Material: Minimum Velocity Trajectories3分钟
Supplementary Material: Linearization of Quadrotor Equations of Motion5分钟
Quiz1 个练习
36分钟
4
完成时间(小时)
完成时间为 4 小时

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 个视频(共 68 分钟), 2 个测验
Video5 个视频
Nonlinear Control18分钟
Control of Multiple Robots26分钟
Adjourn1分钟
Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin9分钟
Quiz1 个练习
410分钟
4.5
职业方向

54%

完成这些课程后已开始新的职业生涯
工作福利

83%

通过此课程获得实实在在的工作福利

热门审阅

创建者 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

创建者 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.

讲师

Avatar

Vijay Kumar

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

关于 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. ...

关于 Robotics 专项课程

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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