機器人學:多軸旋翼機
Robotics:multirotors
學期
108-2
學分
3
學分
當期課號
5308
永久課號
IME5613
開課單位
機械工程學系
授課教師
程登湖
校區
光復
類別
選修
上課時間表
| 節 | 週一 |
|---|---|
2 09:00–09:50 | 機器人學:多軸旋翼機 EE132 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
概述
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
先修科目
Linear control systems, Dynamics
教學方式
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/
評分方式
1. Homeworks (10%) 2. Midterm (30%) 3. Final exam (30%) 4. Final report (30%)
課程大綱
- Kinematics and dynamics of multirotor systems
- Motion planning
- Perception
- Navigation and control
- Robot Operating System
- System integration and experiments
- The basics of robotic systems
週次計畫
| 週次 | 主題 |
|---|---|
| 第 1 週 | Introduction to multirotor systems |
| 第 2 週 | Introduction to ROS, MAVLink |
| 第 3 週 | Kinematics (e.g., Euler angles, quaternion operation, Coordinate Transformation) |
| 第 4 週 | Dynamics of Multirotors |
| 第 5 週 | Optimization |
| 第 6 週 | Attitude Estimate – Madgwick Filter |
| 第 7 週 | Quadratic programming |
| 第 8 週 | Midterm 1 |
| 第 9 週 | Minimum snap trajectory generation |
| 第 10 週 | KF, EKF, UKF |
| 第 11 週 | Sensing and estimation |
| 第 12 週 | PID controller for multirotors |
| 第 13 週 | Nonlinear controller: geometric controller |
| 第 14 週 | Nonlinear controller: stability analysis |
| 第 15 週 | Final exam |
| 第 16 週 | Assembly of a quadrotor, communication with flight controller |
| 第 17 週 | flight test |
| 第 18 週 | Final Report |
教科書
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.
Office Hours
- 地點
- EE468
- 時間
- By appointment
- 聯絡方式
- tenghu@g2.nctu.edu.tw