ℹ️ Control Of Mobile Robots by GeorgiaTech (MOC)
Related: ℹ️ Autonomous Mobile Robots by ETHzürich (MOC)
Formula sheet
Modules 📝
- Module 1 - Introduction to Controls and Dynamical Models
- Module 2 - Introduction to Mobile Robotics and Wheeled Robot Models
- Module 3 - Introduction to Linear State-Space Control Theory
- Module 4 - Linear State-Space Control Design
Theory Videos 🎬
- Video 1.1 - Getting Started
- Video 1.2 - What is Control Theory
- Video 1.3 - On the Need of Mathematical Models
- Video 1.4 - Cruise Controller (Example)
- Video 1.5 - Control Design Basics
- Video 1.6 - Performance Objectives
- Video 1.7 - PID Control
- Video 1.8 - Discrete PID Controller - Implementation (Quadrator Example)
- Video 1.9 - Glue Lecture 1 - Dynamical Models
- Video 2.1 - Introduction to Mobile Robotics
- Video 2.2 - Differential Drive Robot Model and Unicycle Model
- Video 2.3 - Odometry and Wheel Encoders in Differential Drive Robots
- Video 2.4 - Range Sensors Skirts and the Disc Abstraction
- Video 2.5 - Behavior-Based Robotics (PID and Go-to-Goal)
- Video 2.6 - Designing the Go-to-Goal Behavior (P-Regulator)
- Video 2.7 - The GRITS Simulator (Tuning Parameters in Matlab)
- Video 2.8 - Introduction to Obstacle Avoidance Behaviors and Arbitration Mechanisms
- Video 2.9 - Glue Lecture 2 - Robot Models and Feedback Control
- Video 3.1 - Introduction to Linear Systems and State-Space Representation
- Video 3.2 - State-Space Models (Linear vs Non-Linear Systems)
- Video 3.3 - Producing Linear Models from Nonlinear Systems
- Video 3.4 - Behavior and Solutions of Homogeneous LTI Systems (doing the Math)
- Video 3.5 - Stability in LTI Systems
- Video 3.6 - Swarm Robotics Control (The Consensus Equation)
- Video 3.7 - Attempting Linear System Stability with Output Feedback Control
- Video 3.8 - Stabilizing the System Using State Feedback
- Video 3.9 - Glue Lecture 3 - Systems and State-Space Representation