Introduction
Welcome to the ELEC5660 !
ELEC5660 is an HKUST postgraduate course held by the UAV Group. The course will give a comprehensive introduction to aerial robots.
The goal of this course is to expose students to relevant mathematical foundations and algorithms and train them to develop real-time software modules for aerial robotic systems. Topics to be covered include rigid-body dynamics, system modeling, control, trajectory planning, sensor fusion, and vision-based state estimation. Students will complete a series of projects that combine into an aerial robot that is capable of vision-based autonomous indoor navigation.
Keywords:
- rigid-body dynamics
- system modeling
- control
- trajectory planning
- sensor fusion
- vision-based state estimation
Contents
Quadrotor Modeling & Control
Lecture 1:
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Lecture 2:
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Lecture 3:
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- Project 1 Phase 1 Control Simulation
Lecture 4:
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- Project 1 Phase 2 Trajectory Simulation
- Project 1 Phase 3 Path Finding Simulation
- Project 1 Phase 4 Real Robot Experiment
Computer Vision Basis
Lecture 5:
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Lecture 6:
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Lecture 7:
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- Project 2 Phase 1 PnP Localization
Multi-Sensor Fusion
Lecture 8:
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Lecture 9:
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- Project 2 Phase 2 EKF Fusion
Lecture 10:
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- Project 3: Final Project