Robot Control For Safe Navigation
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Robot Control For Safe Navigation
Published 3/2023
MP4 | Video: h264, 1280x720 | Audio: AAC, 44.1 KHz
Language: English | Size: 511.11 MB | Duration: 1h 7m
Robotics, Safe Control, Navigation
What you'll learn
understand the application of safe control
know the limitation of naive safety strategy
understand the math behind safe control
know how to code the safe control for navigation in crowded dynamic environment
Requirements
Math Derivatives, a little Python
Description
Motivation of this course:Deploying mobile robots ubiquitously requires that they safely and reliably accomplish navigation tasks in crowded and dynamic real world settings. These settings are challenging since the robot system is expected to plan online, handle the uncertainty, and establish safe actions to avoid multiple moving agents. Course Content and Overview:On this course we will primarily use Safe Set Algorithm (SSA) as safe controller to keep monitoring and modifying actions for safety-critical tasks like autonomous driving and human robot interaction. You will learn the problem of naive safety strategy, how safety index solve the problem in naive method, and how to add constraints on control to guarantee safety. Besides the mathematics of safe control algorithms, I'll also show you how to code a safe controller and implement it in a challenging environment which simulate the real-world crowded and dynamic scenarios. The coding program would help you fully understand this algorithm and may apply it into your own applications.Requirements:This is a beginner robotics and control course - if you've never learned robot navigation before, this is a great starting place. No necessary control or robotics knowledge requirement, but require basic knowledge of math derivatives and some knowledge about python would be a great advantage.
Overview
Section 1: Intro
Lecture 1 Intro
Section 2: Simulation Environment
Lecture 2 Clustered Dynamic Environment
Lecture 3 Environment Setup
Section 3: Navie Safe Strategy
Lecture 4 Safe Control Example
Lecture 5 Navie Safe Strategy
Lecture 6 Navie Safe Strategy - Potential Field Approach
Lecture 7 Why it fails
Section 4: Safe Control Algorithm
Lecture 8 Safety Index
Lecture 9 Constraint on control
Lecture 10 Safe Control Projection
Section 5: Safe Control Coding
Lecture 11 Overview
Lecture 12 Safety Index Coding
Lecture 13 Lie Derivatives Calculation
Lecture 14 Lie Derivatives Calculation - 2
Lecture 15 Quadratic Programming
Lecture 16 Collision Analysis
Section 6: Summary
Lecture 17 Conclusion
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