Autonomous Aerial Robotics

81001 Update: Autonomous Robotics Programming

  • Autonomous robotics programming
    • Path planning
      • 2D environment
        • 2D maps
      • 3D environment
        • 2.5D maps
        • voxel-map
        • k-d-tree
        • k-nearest neighbors
        • Probabilistic road map
        • Receding horizon path planning
      • Planning as search
        • A-star search algorithm
        • Dubins-car
        • Steering
        • RRT (rapidly exploring random tree)
        • Potential field
      • Path pruning
        • Collinearity
        • Bresenham
        • Medial Axis
        • Voronoi diagrams
        • Graph search
          • BFS
          • DFS
    • Motion planning -p1
    • Vehicle dynamics
      • Vehicle dynamics
        • F = ma
        • thrust
        • torque – moments
    • 2D Vehicle Control
      • Control Architecture
        • P control (proportional control)
        • PD control (proportional, derivative control)
    • 3D Vehicle Control
      •  Control Architecture
        • PD cascaded control (proportional, derivative, nested control loops)
        • PID architecture
          • (proportional, derivative, integral -multi-rate nested control loops
      • Configuration space
        • Geodetic / World Frame
          • long, lat, alt.
        • NED / Body / Local Frame
          • north, east, down(pos)
      • Linear algebra
        • Integration
        • Derivatives
      • Linearization
      • Matrix math
        • Rgb (rotation matrices) global frame to body frame
      • Euler angles
        • V3F function
      • Quaternion transformations
    • State estimation