Robotic systems typically include three components: a mechanism which is capable of exerting forces and torques on the environment, a perception system for sensing the world and a decision and control system which modulates the robot's behavior to achieve the desired ends. In this course we will consider the problem of how a robot decides what to do to achieve its goals. This problem is often referred to as Motion Planning and it has been formulated in various ways to model different situations. You will learn some of the most common approaches to addressing this problem including graph-based methods, randomized planners and artificial potential fields. Throughout the course, we will discuss the aspects of the problem that make planning challenging.
課程信息
學生職業成果
14%
您將獲得的技能
學生職業成果
14%
提供方
宾夕法尼亚大学
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.
教學大綱 - 您將從這門課程中學到什麼
Introduction and Graph-based Plan Methods
Welcome to Week 1! In this module, we will introduce the problem of planning routes through grids where the robot can only take on discrete positions. We can model these situations as graphs where the nodes correspond to the grid locations and the edges to routes between adjacent grid cells. We present a few algorithms that can be used to plan paths between a start node and a goal node including the breadth first search or grassfire algorithm, Dijkstra’s algorithm and the A Star procedure.
Configuration Space
Welcome to Week 2! In this module, we begin by introducing the concept of configuration space which is a mathematical tool that we use to think about the set of positions that our robot can attain. We then discuss the notion of configuration space obstacles which are regions in configuration space that the robot cannot take on because of obstacles or other impediments. This formulation allows us to think about path planning problems in terms of constructing trajectories for a point through configuration space. We also describe a few approaches that can be used to discretize the continuous configuration space into graphs so that we can apply graph-based tools to solve our motion planning problems.
Sampling-based Planning Methods
Welcome to Week 3! In this module, we introduce the concept of sample-based path planning techniques. These involve sampling points randomly in the configuration space and then forging collision free edges between neighboring sample points to form a graph that captures the structure of the robots configuration space. We will talk about Probabilistic Road Maps and Randomly Exploring Rapid Trees (RRTs) and their application to motion planning problems.
Artificial Potential Field Methods
Welcome to Week 4, the last week of the course! Another approach to motion planning involves constructing artificial potential fields which are designed to attract the robot to the desired goal configuration and repel it from configuration space obstacles. The robot’s motion can then be guided by considering the gradient of this potential function. In this module we will illustrate these techniques in the context of a simple two dimensional configuration space.
審閱
來自ROBOTICS: COMPUTATIONAL MOTION PLANNING的熱門評論
The course was challenging, but fulfilling. Thank you Coursera and University of Pennsylvania for giving this wonderful experience and opportunity that I might not experience in our local community!
The topic was very interesting, and the assignments weren't overly complicated. Overall, the lesson was fun and informative , despite the bugs in the learning tool(especially, the last assignment.)
This course is supposed to be easier but somehow it also makes it difficult because implementations of the algorithms in Matlab are bit non-standard as I am used to. Altogether very challenging.
A very good course in motion planning. Here are introduced some basic approach to motion and the Matlab assignments are very helpful to understand the topics of the course. Absolutely suggested.
關於 机器人 專項課程
常見問題
我什么时候能够访问课程视频和作业？
讲座和作业的访问权限取决于您的注册类型。如果您以旁听模式参加课程，则可以免费查看大多数课程资料。要访问评分作业并获得证书，您需要在旁听期间或之后购买证书体验。如果看不到旁听选项：
- 课程可能不提供旁听选项。您可以尝试免费试用，也可以申请助学金。
- 课程可能会改为提供'完整课程，没有证书'。通过此选项，您可以查看所有课程材料、提交所要求的作业，以及获得最终成绩。这也意味着您将无法购买证书体验。
我订阅此专项课程后会得到什么？
您注册课程后，将有权访问专项课程中的所有课程，并且会在完成课程后获得证书。您的电子课程证书将添加到您的成就页中，您可以通过该页打印您的课程证书或将其添加到您的领英档案中。如果您只想阅读和查看课程内容，可以免费旁听课程。
退款政策是如何规定的？
如果订阅，您可以获得 7 天免费试听，在此期间，您可以取消课程，无需支付任何罚金。在此之后，我们不会退款，但您可以随时取消订阅。请阅读我们完整的退款政策。
有助学金吗？
是的，Coursera 可以为无法承担费用的学生提供助学金。通过点击左侧“注册”按钮下的“助学金”链接可以申请助学金。您可以根据屏幕提示完成申请，申请获批后会收到通知。您需要针对专项课程中的每一门课程完成上述步骤，包括毕业项目。了解更多。
還有其他問題嗎？請訪問 學生幫助中心。
