CSCA 5332: Robotic Mapping and Trajectory Generation
Ìý Work you complete in the non-credit experience will transfer to the for-credit experience when you upgrade and pay tuition after this course's for-credit experience launches. See How It Works for details.
- Course Type: Elective
- Specialization:ÌýIntroduction to Robotics with Webots
- Instructor:ÌýDr.ÌýNikolaus Correll, Professor of Computer Science
- Prior knowledge needed: ​Content covered in CSCA 5312: Basic Robotic Behaviors and Odometry
Learning Outcomes
- 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.
Course Content
Duration: 5 hours
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.
Duration: 6 hours
In this week, you will begin to understand basic discrete map representations and their implementation.
Duration: 3Ìýhours
This week introduces simple ways to encode obstacles in terms of probability, the concept of "configuration space", and a simple algorithm for collision checking.
Duration: 5 hours
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.
Duration: 6 hours
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.
Duration: 1 hour
This module contains materials for the final exam. If you've upgraded to the for-credit version of this course, please make sure you review the additional for-credit materials in the introductory module and anywhere else they may be found.
Notes
- Cross-listed Courses:ÌýCoursesÌýthat are offered under two or more programs. Considered equivalent when evaluating progress toward degree requirements. You may not earn credit for more than one version of a cross-listed course.
- Page Updates:ÌýThis page is periodically updated. Course information on the Coursera platform supersedes the information on this page. Click theÌýView on CourseraÌýbuttonÌýabove for the most up-to-date information.