機器人學:多軸旋翼機
Robotics:multirotors
| 節 | 週一 |
|---|---|
2 09:00–09:50 | 機器人學:多軸旋翼機 EE132（光復） 3 節連堂 |
3 10:10–11:00 | |
4 11:10–12:00 |
* 根據陽明交大上課時間表所列
1. The basics of robotic systems 2. Kinematics and dynamics of multirotor systems 3. Motion planning 4. Perception 5. Navigation and control 6. Robot Operating System 7. System integration and experiments
Linear control systems, Dynamics
無備註
1. Lecture 2.TA: 游秉源{EE405, physical31031@gmail.com} 顏印隆{EE513, yanlong658@gmail.com} 3.Googlesites: https://sites.google.com/a/g2.nctu.edu.tw/robotics-aerial-robots---2020-spring/
1. Homeworks (10%) 2. Midterm (30%) 3. Final exam (30%) 4. Final report (30%)
Kinematics and dynamics of multirotor systems
Translational and rotational dynamics, Euler angles, quaternion
- 講授：
- 9
Motion planning
Time, motion, quadratic programming, minimum snap trajectory generation
- 講授：
- 9
Perception
Sensing and estimation, Madgwick filter, KF, EKF, UKF
- 講授：
- 9
Navigation and control
Introduction to PID controller, nonlinear controller (i.e., geometric controller)
- 講授：
- 9
Robot Operating System
Introduction to ROS, programming, communication with flight controller
- 講授：
- 3
- 示範：
- 3
- 實作：
- 3
System integration and experiments
Introduction to flight controller, MAVLink, MAVProxy, assembly of a quadrotor, flight test
- 講授：
- 1
- 示範：
- 2
- 實作：
- 3
The basics of robotic systems
Applications, mechanics, Agility and Maneuverability
- 講授：
- 3
| 週次 | 主題 |
|---|---|
| 第 1 週 | Introduction to multirotor systems as scheduled |
| 第 2 週 | Introduction to ROS, MAVLink as scheduled |
| 第 3 週 | Kinematics (e.g., Euler angles, quaternion operation, Coordinate Transformation) as scheduled |
| 第 4 週 | Dynamics of Multirotors as scheduled |
| 第 5 週 | Optimization as scheduled |
| 第 6 週 | Attitude Estimate – Madgwick Filter as scheduled |
| 第 7 週 | Quadratic programming as scheduled |
| 第 8 週 | Midterm 1 as scheduled |
| 第 9 週 | Minimum snap trajectory generation as scheduled |
| 第 10 週 | KF, EKF, UKF as scheduled |
| 第 11 週 | Sensing and estimation as scheduled |
| 第 12 週 | PID controller for multirotors as scheduled |
| 第 13 週 | Nonlinear controller: geometric controller as scheduled |
| 第 14 週 | Nonlinear controller: stability analysis as scheduled |
| 第 15 週 | Final exam as scheduled |
| 第 16 週 | Assembly of a quadrotor, communication with flight controller as scheduled |
| 第 17 週 | flight test as scheduled |
| 第 18 週 | Final Report as scheduled |
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.
- 地點
- EE468
- 時間
- By appointment
- 聯絡方式
- tenghu@g2.nctu.edu.tw