19304701
Lecture
WiSe 14/15: Robotics
Daniel Goehring
Comments
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
closeSuggested reading
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
close14 Class schedule
Additional appointments
Mon, 2015-02-09 08:00 - 10:00Klausur
Mon, 2015-03-30 10:00 - 12:00
Nachklausur
Regular appointments
Mon, 2014-10-20 08:00 - 10:00
Mon, 2014-10-27 08:00 - 10:00
Mon, 2014-11-03 08:00 - 10:00
Mon, 2014-11-10 08:00 - 10:00
Mon, 2014-11-17 08:00 - 10:00
Mon, 2014-11-24 08:00 - 10:00
Mon, 2014-12-01 08:00 - 10:00
Mon, 2014-12-08 08:00 - 10:00
Mon, 2014-12-15 08:00 - 10:00
Mon, 2015-01-05 08:00 - 10:00
Mon, 2015-01-12 08:00 - 10:00
Mon, 2015-01-19 08:00 - 10:00
Mon, 2015-01-26 08:00 - 10:00
Mon, 2015-02-02 08:00 - 10:00