Homepage » ALL COURSE » College of Engineering » Robotics : multirotors – 109 Academic Year | Department of Mechanical Engineering Prof. Teng-Hu Cheng
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.
Textbook:
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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Instructor(s) | Department of Mechanical Engineering Prof. Teng-Hu Cheng |
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Course Credits | 3 Credits |
Academic Year | 109 Academic Year |
Level | Graduate Student |
Prior Knowledge | Linear control systems, Dynamics |
Related Resources | Course Video Course Syllabus Course Calendar |
Week | Course Content | Course Video |
---|---|---|
Introduction to multirotor systems | Watch Online | |
Ubuntu and ROS setup | Watch Online | |
Introduction of Git and ROS | Watch Online | |
Kinematics (e.g., Euler angles, quaternion operation, Coordinate Transformation) | Watch Online | |
Dynamics of Multirotor | Watch Online | |
Convex Optimization | Watch Online | |
Madgwick Filter and QP Solver | Watch Online | |
Nonlinear controller: geometric tracking controller | Watch Online | |
Stability Analysis of System | Watch Online | |
Stability Analysis of geometric controller | Watch Online | |
KF、EKF、UKF | Watch Online | |
Multirotor in Simulation Environment | Watch Online | |
Error State Kalman Filter | Watch Online |
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 systems | Translational and rotational dynamics, Euler angles, quaternion |
Motion planning | Time, motion, quadratic programming, minimum snap trajectory generation |
Estimation | Sensing and estimation, Madgwick filter, KF, EKF, UKF |
Navigation and control | Introduction to PID controller, nonlinear controller (i.e., geometric controller) |
Robot Operating System | Introduction 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 systems | Applications, 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 |
Homework | 10% |
Midterm | 30% |
Final exam | 30% |
Final report | 30% |
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 |
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第二週 | 2021/3/1 |
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第三週 | 2021/3/8 |
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第四週 | 2021/3/15 |
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第五週 | 2021/3/22 |
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第六週 | 2021/3/29 |
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第七週 | 2021/4/5 |
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第八週 | 2021/4/12 |
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第九週 | 2021/4/19 |
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第十週 | 2021/4/26 |
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第十一週 | 2021/5/3 |
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第十二週 | 2021/5/10 |
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第十三週 | 2021/5/17 |
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第十四週 | 2021/5/24 |
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第十五週 | 2021/5/31 |
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第十六週 | 2021/6/7 |
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第十七週 | 2021/6/14 |
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第十八週 | 2021/6/21 |
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