In this second course of the Introduction to Robotics specialization, "Robotic Mapping and Trajectory Generation", you will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach. You will also learn how to process multi-dimensional sensor signals such as laser range scanners for mapping. Additionally, you will apply the overarching focus of mechanisms and sensors as sources of uncertainty and gain techniques to how to model and control them.
Robotic Mapping and Trajectory Generation
Robotic Mapping and Trajectory Generation
This course is part of Introduction to Robotics with Webots Specialization
Instructor: Nikolaus Correll
Sponsored by Louisiana Workforce Commission
Gain insight into a topic and learn the fundamentals.
Intermediate level
Recommended experience
25 hours to complete
3 weeks at 8 hours a week
Flexible schedule
Learn at your own pace
What you'll learn
Use basic feedback control techniques for inverse kinematics of (non-)Holonomic mechanisms.
Apply coordinate transforms to multi-dimensional sensor signals.
Understand basic probabilistic representations to deal with uncertainty from measurement noise.
Details to know
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Assessments
13 assignments
Taught in English
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This course is part of the Introduction to Robotics with Webots Specialization
When you enroll in this course, you'll also be enrolled in this Specialization.
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There are 5 modules in this course
Welcome to Week 1 of the course. You will get started by being introduced to the class of "range finder" devices, which have important applications in mapping, as well as the concept of homogeneous transforms to perform coordinate transformations.
What's included
8 videos5 readings4 assignments1 discussion prompt
In this week, you will begin to understand basic discrete map representations and their implementation.
What's included
2 videos4 readings3 assignments1 plugin
This week introduces simple ways to encode obstacles in terms of probability, the concept of "configuration space", and a simple algorithm for collision checking.
What's included
1 video3 readings2 assignments
In this week you will learn to define a robot trajectory based on a series of waypoints and implement a basic proportional controller in Webots to navigate in a 2D environment.
What's included
4 videos4 readings4 assignments
In this module you will transfer your mapping and trajectory following skills to a commercial robotic platform in a kitchen environment, introducing you to additional constraints of sensor integration on a real robotic platform.
What's included
1 video1 peer review
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