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 EE206（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. Estimation 5. Navigation and control 6. Robot Operating System 7. Final project
Linear control systems, Dynamics
無備註
1. Video lecture: https://www.youtube.com/playlist?list=PLrxYXaxBXgRqLBHtVYx1L1a8lgL1h1wJn 2.TA:劉劭瑋 {rosel94638@gmail.com} 3.Googlesites: https://sites.google.com/nycu.edu.tw/robotics-aerial-robots-2023-sp/course-materials 4.Github: https://github.com/2022-Robotics-Aerial-Robots
1. Homeworks (10%) 2. Midterm (20%) 3. Final exam (20%) 4. Final report (50%)
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
Estimation
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 2023-02-13(一) |
| 第 2 週 | Introduction to ROS, MAVLink 2023-02-20(一) |
| 第 3 週 | Kinematics (e.g., Euler angles, quaternion operation, Coordinate Transformation) 2023-02-27(一) |
| 第 4 週 | Dynamics of Multirotors 2023-03-06(一) |
| 第 5 週 | Convex Optimization 2023-03-13(一) |
| 第 6 週 | Attitude Estimate – Madgwick Filter 2023-03-20(一) |
| 第 7 週 | Quadratic programming 2023-03-27(一) |
| 第 8 週 | Midterm 1 2023-04-03(一) |
| 第 9 週 | Minimum snap trajectory generation 2023-04-10(一) |
| 第 10 週 | Nonlinear controller: geometric controller 2023-04-17(一) |
| 第 11 週 | Nonlinear controller: geometric controller 2023-04-24(一) |
| 第 12 週 | Nonlinear controller: stability analysis 2023-05-01(一) |
| 第 13 週 | Nonlinear controller: stability analysis 2023-05-08(一) |
| 第 14 週 | KF, EKF, UKF 2023-05-15(一) |
| 第 15 週 | KF, EKF, UKF 2023-05-22(一) |
| 第 16 週 | Final exam 2023-05-29(一) |
| 第 17 週 | Final Report 2023-06-05(一) |
| 第 18 週 | Final Report 2023-06-12(一) |
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