Robotics : multirotors - 109 Academic Year

機器人學:多軸旋翼機 - 109學年度

本課程是由 國立陽明交通大學機械工程學系 提供。

1. The basics of robotic systems

2. Kinematics and dynamics of multirotor systems

3. Motion planning

4. Estimation

5. Navigation and control

6. Robot Operating System

7. Final project.


課程用書:

1. Quan, Quan. Introduction to Multicopter Design and Control, Springer, 2017. DOI:10.1007/978-981-10-3382-7.
2. Engineering Mechanics Dynamics, 14th edition in SI units, R. C. Hibbeler.

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授課教師 機械工程學系 程登湖老師
課程學分 3學分
授課年度 109學年度
授課對象 研究所
預備知識 Linear control systems, Dynamics
課程提供 課程影音   課程綱要   課程行事曆  

課程目標

The basics of robotic systems
Kinematics and dynamics of multirotor systems
Motion planning
Estimation
Navigation and control
Robot Operating System
Final project

 

課程章節

章節 章節內容
Kinematics and dynamics of multirotor systemsTranslational and rotational dynamics, Euler angles, quaternion
Motion planningTime, motion, quadratic programming, minimum snap trajectory generation
Estimation Sensing and estimation, Madgwick filter, KF, EKF, UKF
Navigation and controlIntroduction to PID controller, nonlinear controller (i.e., geometric controller)
Robot Operating SystemIntroduction to ROS, programming, communication with flight controller
System integration and experiments Introduction to flight controller, MAVLink, MAVProxy, assembly of a quadrotor, flight test
The basics of robotic systemsApplications, mechanics, Agility and Maneuverability


課程書目

1. Quan, Quan. Introduction to Multicopter Design and Control, Springer, 2017. DOI:10.1007/978-981-10-3382-7.
2. Engineering Mechanics Dynamics, 14th edition in SI units, R. C. Hibbeler.

 

評分標準

項目百分比
Homework10%
Midterm30%
Final exam30%
Final report30%

本課程行事曆提供課程進度與考試資訊參考。

學期週次
上課日期
參考課程進度

第一週

2021/2/22
  • Introduction to multirotor systems
第二週2021/3/1
  • Introduction to ROS, MAVLink
第三週2021/3/8
  • Kinematics (e.g., Euler angles, quaternion operation, Coordinate Transformation)
第四週2021/3/15
  • Dynamics of Multirotors 
第五週2021/3/22
  • Convex Optimization
第六週2021/3/29
  • Attitude Estimate – Madgwick Filter
第七週2021/4/5
  • Quadratic programming
第八週2021/4/12
  • Midterm 1
第九週2021/4/19
  • Minimum snap trajectory generation
第十週2021/4/26
  • Nonlinear controller: geometric controller
第十一週2021/5/3
  • Nonlinear controller: geometric controller
第十二週2021/5/10
  • Nonlinear controller: stability analysis
第十三週2021/5/17
  • Nonlinear controller: stability analysis
第十四週2021/5/24
  • KF, EKF, UKF
第十五週2021/5/31
  • KF, EKF, UKF
第十六週2021/6/7
  • Final exam  
第十七週2021/6/14
  • Final Report  
第十八週2021/6/21
  • Final Report
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