課程信息
4.5
1,775 個評分
475 個審閱
專項課程

第 1 門課程(共 6 門),位於

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可靈活調整截止日期

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完成時間(小時)

完成時間大約為25 小時

建議:4 hours/week...
可選語言

英語(English)

字幕:英語(English)...

您將獲得的技能

Motion PlanningRoboticsQuadcoperMatlab
專項課程

第 1 門課程(共 6 門),位於

100% online

100% online

立即開始,按照自己的計劃學習。
可靈活調整截止日期

可靈活調整截止日期

根據您的日程表重置截止日期。
完成時間(小時)

完成時間大約為25 小時

建議:4 hours/week...
可選語言

英語(English)

字幕:英語(English)...

教學大綱 - 您將從這門課程中學到什麼

1
完成時間(小時)
完成時間為 2 小時

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 個視頻(共 74 分鐘), 4 個閱讀材料, 2 個測驗
Video16 個視頻
Quadrotors3分鐘
Key Components of Autonomous Flight1分鐘
State Estimation7分鐘
Applications3分鐘
Meet the TAs分鐘
Basic Mechanics4分鐘
Dynamics and 1-D Linear Control10分鐘
Design Considerations3分鐘
Design Considerations (continued)4分鐘
Agility and Maneuverability7分鐘
Component Selection4分鐘
Effects of Size4分鐘
Supplementary Material: Introduction3分鐘
Supplementary Material: Dynamical Systems3分鐘
Supplementary Material: Rates of Convergence3分鐘
Reading4 個閱讀材料
Setting up your Matlab programming environment10分鐘
Matlab Tutorials - Introduction to the Matlab Environment10分鐘
Matlab Tutorials - Programming Basics10分鐘
Matlab Tutorials - Advanced Tools10分鐘
Quiz2 個練習
1.112分鐘
1.210分鐘
2
完成時間(小時)
完成時間為 5 小時

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 個視頻(共 117 分鐘), 2 個測驗
Video19 個視頻
Rotations4分鐘
Euler Angles12分鐘
Axis/Angle Representations for Rotations14分鐘
Angular Velocity9分鐘
Supplementary Material: Rigid-Body Displacements6分鐘
Supplementary Material: Properties of Functions3分鐘
Supplementary Material: Symbolic Calculations in Matlab4分鐘
Supplementary Material: The atan2 Function2分鐘
Supplementary Material: Eigenvalues and Eigenvectors of Matrices5分鐘
Supplementary Material: Quaternions2分鐘
Supplementary Material: Matrix Derivative1分鐘
Supplementary Material: Skew-Symmetric Matrices and the Hat Operator4分鐘
Formulation3分鐘
Newton-Euler Equations6分鐘
Principal Axes and Principal Moments of Inertia6分鐘
Quadrotor Equations of Motion5分鐘
Supplementary Material: State-Space Form4分鐘
Supplementary Material: Getting Started With the First Programming Assignment3分鐘
Quiz1 個練習
2.112分鐘
3
完成時間(小時)
完成時間為 4 小時

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 個視頻(共 65 分鐘), 2 個測驗
Video9 個視頻
3-D Quadrotor Control7分鐘
Time, Motion, and Trajectories9分鐘
Time, Motion, and Trajectories (continued)9分鐘
Motion Planning for Quadrotors12分鐘
Supplementary Material: Minimum Velocity Trajectories from the Euler-Lagrange Equations2分鐘
Supplementary Material: Solving for Coefficients of Minimum Jerk Trajectories5分鐘
Supplementary Material: Minimum Velocity Trajectories3分鐘
Supplementary Material: Linearization of Quadrotor Equations of Motion5分鐘
Quiz1 個練習
36分鐘
4
完成時間(小時)
完成時間為 4 小時

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 個視頻(共 68 分鐘), 2 個測驗
Video5 個視頻
Nonlinear Control18分鐘
Control of Multiple Robots26分鐘
Adjourn1分鐘
Supplementary Material: Introduction to the Motion Capture System by Matthew Turpin9分鐘
Quiz1 個練習
410分鐘
4.5
職業方向

54%

完成這些課程後已開始新的職業生涯
工作福利

83%

通過此課程獲得實實在在的工作福利

熱門審閱

創建者 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

創建者 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.

講師

Avatar

Vijay Kumar

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

關於 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. ...

關於 Robotics 專項課程

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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