Robotic Mapping and Trajectory Generation

Robotic Mapping and Trajectory Generation

This course is part of Introduction to Robotics with Webots Specialization

Instructor: Nikolaus Correll

Access provided by Somaiya Vidyavihar University

2,468 already enrolled

5 modules

Gain insight into a topic and learn the fundamentals.

13 reviews

Intermediate level

Recommended experience

3 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

5 modules

Gain insight into a topic and learn the fundamentals.

13 reviews

Intermediate level

Recommended experience

3 weeks to complete

at 10 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.

Skills you'll gain

Tools you'll learn

Details to know

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Assessments

14 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

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.

It is recommended that you complete the first course of this specialization, “Introduction to Robotics: Basic Behaviors”, before beginning this one. This course can be taken for academic credit as part of CU Boulder’s MS in Computer Science degrees offered on the Coursera platform. These fully accredited graduate degrees offer targeted courses, short 8-week sessions, and pay-as-you-go tuition. Admission is based on performance in three preliminary courses, not academic history. CU degrees on Coursera are ideal for recent graduates or working professionals. Learn more: MS in Computer Science: https://coursera.org/degrees/ms-computer-science-boulder

Welcome to Robotic Mapping and Trajectory Generation. In this first week 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 videos8 readings5 assignments1 discussion prompt

8 videos Total 61 minutes

Introduction to the Specialization 2 minutes
Meet the Instructor 2 minutes
Introduction to "Robotic Mapping and Trajectory Generation" 1 minute
Range Finders and Homogeneous Transforms 20 minutes
Set Up a Range Finder in Webots 7 minutes
Range Sensing 5 minutes
Transforming 1D-Range Images into World Coordinates 13 minutes
Homogeneous Transforms 11 minutes

8 readings Total 66 minutes

Course Updates and Accessibility Support 1 minute
Earn Academic Credit for your Work! 10 minutes
Course Support 10 minutes
Assessment Expectations 10 minutes
AI Citation and Acknowledgement 10 minutes
Course Activities 5 minutes
Laser Range Finders 10 minutes
About Homogeneous Transforms 10 minutes

5 assignments Total 160 minutes

AI Policy Quiz 5 minutes
Hands On: Commissioning the Range Finder 60 minutes
Hands-On: Transforming World Coordinates in Webots 45 minutes
Range Finder Devices 30 minutes
Homogeneous Transforms Practice 20 minutes

1 discussion prompt Total 10 minutes

Introduce Yourself! 10 minutes

In this week, you will begin to understand basic discrete map representations and their implementation.

What's included

2 videos4 readings3 assignments1 plugin

2 videos Total 24 minutes

Mapping 18 minutes
Basic Mapping: Overview 6 minutes

4 readings Total 40 minutes

Map Representations 10 minutes
Topological Maps 10 minutes
Grid Maps and Graphs 10 minutes
QuadTrees 10 minutes

3 assignments Total 276 minutes

QuadTrees 90 minutes
Hands-On: Mapping Part I - Basic Mapping 180 minutes
Topological Maps and Graphs 6 minutes

1 plugin Total 20 minutes

Example QuadTree Implementation 20 minutes

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

4 videos Total 52 minutes

Trajectory Following 22 minutes
Trajectory Following - Set Up 6 minutes
Trajectory Following - Computing Error 12 minutes
Control 12 minutes

4 readings Total 50 minutes

Trajectory Following 10 minutes
Euclidian Distance and Heading Error 10 minutes
Proportional Control 10 minutes
PID Control 20 minutes

4 assignments Total 225 minutes

PID Control 15 minutes
Setup "supervisors" and markers in Webots 45 minutes
Hands-On: Distance and Heading Error 45 minutes
Control 120 minutes

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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Build toward a degree

This course is part of the following degree program(s) offered by University of Colorado Boulder. If you are admitted and enroll, your completed coursework may count toward your degree learning and your progress can transfer with you.¹