19304701
Vorlesung
WiSe 14/15: Robotics
Daniel Goehring
Kommentar
Übungen siehe 19304702
This class will give an introduction to robotics. It will be structured into the following parts:
- Generating motion and and dynamic control: This chapter will cover coordinate frames, kinematic chains, inverse kinematics, Jacobian, singularities, holonomic constraints, Ackermann-drive, PID, Newton-Euler.
- Planning: Planning around obstacles, path finding, Dijkstra, A*, configuration space obstacles, RRTs, lattice planners, gradient methods, potential fields, splines.
- Localization and mapping: state estimation problem, Bayesian filter, Odometry, Particle & Kalman filter, Extended and Unscented Kalman-Filter, simultaneous localization and mapping (SLAM).
- Vision and perception: SIFT, HOG-features, Deformable parts models, hough transform, lane detection, 3d-point clouds, RANSAC .
After these lectures, students will be able to design basic algorithms for motion, control and state estimation for robotics
SchließenLiteraturhinweise
Bruno Siciliano, Oussama Khatib: Handbook of Robotics (partially online at Googlebooks) Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani: Robotics: modelling, planning and control Steven LaValle: Planning Algorithms Sebastian Thrun, Wolfram Burgard, Dieter Fox: Probabilistic Robotics
Schließen14 Termine
Zusätzliche Termine
Mo, 09.02.2015 08:00 - 10:00Klausur
Mo, 30.03.2015 10:00 - 12:00
Nachklausur
Regelmäßige Termine der Lehrveranstaltung
Mo, 20.10.2014 08:00 - 10:00
Mo, 27.10.2014 08:00 - 10:00
Mo, 03.11.2014 08:00 - 10:00
Mo, 10.11.2014 08:00 - 10:00
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Mo, 24.11.2014 08:00 - 10:00
Mo, 01.12.2014 08:00 - 10:00
Mo, 08.12.2014 08:00 - 10:00
Mo, 15.12.2014 08:00 - 10:00
Mo, 05.01.2015 08:00 - 10:00
Mo, 12.01.2015 08:00 - 10:00
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Mo, 26.01.2015 08:00 - 10:00
Mo, 02.02.2015 08:00 - 10:00