लेख
तकनीक बनाएँ, परखें और उसका विश्लेषण करें। कार्यान्वयन, प्रयोग और शोध से उसके काम करने के सिद्धांत समझें।
← अध्ययन मार्गदर्शिका

Robotics — अध्ययन मार्गदर्शिका

Connect observations, state, maps and behavior through existing explanations and experiments.

व्यवस्थित अध्ययन पथों से बुनियादी सिद्धांतों से व्यावहारिक उपयोग तक पहुँचें।

Before you start Start with sensor, position and velocity terminology. Frames use vectors and matrices; estimation uses probability. Each topic links to its background.

1. System and runtime

Trace sensing through commands, then inspect communication and logs.

  1. The autonomous robot system

  2. ROS 2 communication

  3. Recording and replaying logs

    Background: ROS 2 communication

2. Working with frames

Express the same point in different frames.

  1. Coordinate transforms

3. Estimating motion and state

Distinguish integrated motion from corrections using multiple sensors.

  1. Wheel odometry

    Background: Coordinate transforms

  2. IMU bias and noise

  3. GNSS positioning and error

  4. Sensor fusion

    Background: Frames and time · Kalman filtering

4. Registration and mapping

Explore registration failures before studying the full SLAM system.

  1. Point-cloud registration with ICP

    Background: Coordinate transforms

  2. LiDAR SLAM

    Background: Point-cloud registration with ICP · Pose-graph update

  3. Evaluating SLAM accuracy

    Background: LiDAR SLAM

5. From maps to motion

Separate map representation, paths and behavior, then connect them with Nav2.

  1. Occupancy grids

    Background: Coordinate transforms

    More questions on this topic

  2. Behavior selection

    More questions on this topic

  3. Navigation integration and debugging

    Background: Behavior selection · Frames and time · Path search on a map