Robotics:Aerial Robotics (空中机器人) (一)
时间:2023-12-08 01:37:01
Robotics:Aerial Robotics (空中机器人) (一)
week1.1 Introduction 引言
该专栏为Coursera上宾夕法尼亚大学Kumar教授的课程——Robotics:Aerial Robotics课程笔记和整理
原课程链接:https://www.coursera.org/learn/robotics-flight?specialization=robotics
知乎同文:https://zhuanlan.zhihu.com/p/480922840
Quadrotor (四旋翼)
其中,电机1,3转向相同,2,4转向相同。
飞行位置和旋转可以通过改变电机转速来控制。(position and orientation)
四旋翼有六种自由度,即三自由位移(x-y-z)和旋转三自由度(roll-pitch-yaw)。
Key Components of Autonomous Flight
- State Estimation
- estimate the position and velocity (including rotation and angular velocity of the robot)
- Control
- command motors and produce desired actions in order to navigate to desired state
- Mapping
- Planning
State Estimation(状态估计)
可用于实验室环境motion capture,精度高(below one millimeter),实时性好(100-200 times a second)。
How do we navigate without GPS, without external motion capture cameras or any other kinds of external sensors?
在GPS拒绝,没有motion capture外部传感器常用SLAM技术(Simultaneous Localization And Mapping)。