Modern Robotics, Course 4: Robot Motion Planning and Control

Northwestern University via Coursera

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Overview

Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics? If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It...

Syllabus

Chapter 10: Motion Planning (Part 1 of 2)

C-space obstacles, graphs and trees, and A* graph search.

Chapter 10: Motion Planning (Part 2 of 2)

Motion planning on a discretized C-space grid, randomized sampling-based planners, virtual potential fields, and nonlinear optimization.

Chapter 11: Robot Control (Part 1 of 2)

First- and second-order linear error dynamics, stability of a feedback control system, and motion control of robots when the output of the controller commands joint velocities.