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 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
1. Video lecture: https://www.youtube.com/playlist?list=PLrxYXaxBXgRqLBHtVYx1L1a8lgL1h1wJn 2.TA:詹竣智{chunchih.en11@nycu.edu.tw} 3.Googlesites: https://sites.google.com/nycu.edu.tw/robotics-aerial-robots2024/introduction 4.Github: https://github.com/orgs/2023-Robotics-Aerial-Robots/repositories
1. Homeworks (10%) 2. Midterm (20%) 3. Final exam (20%) 4. Final report (50%)
- Kinematics and dynamics of multirotor systems
- Motion planning
- Estimation
- Navigation and control
- Robot Operating System
- System integration and experiments
- The basics of robotic systems
| 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 | Convex 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 | Nonlinear controller: geometric controller |
| 第 11 週 | Nonlinear controller: geometric controller |
| 第 12 週 | Nonlinear controller: stability analysis |
| 第 13 週 | Nonlinear controller: stability analysis |
| 第 14 週 | KF, EKF, UKF |
| 第 15 週 | KF, EKF, UKF |
| 第 16 週 | Final exam |
| 第 17 週 | Final Report |
| 第 18 週 | Final Report |
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@nycu.edu.tw