Robotics — Guida allo studio
Connect observations, state, maps and behavior through existing explanations and experiments.
Un percorso strutturato in robotica, controllo, agricoltura in ambiente controllato, energia ed elettronica di potenza.
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.
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The autonomous robot system
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ROS 2 communication
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Recording and replaying logs
Background: ROS 2 communication
- Lab · Run in browserRiproduzione dei guasti del robot con rosbag2: input, TF e tempo
2. Working with frames
Express the same point in different frames.
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Coordinate transforms
- Primer · Run in browserTrasformazioni di coordinate robotiche: matrici, quaternioni e TF
3. Estimating motion and state
Distinguish integrated motion from corrections using multiple sensors.
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Wheel odometry
Background: Coordinate transforms
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IMU bias and noise
- Lab · Run in browserAnalisi del log di un'IMU stazionaria: bias, dispersione e deviazione di Allan.
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GNSS positioning and error
- Primer · Run in browserCome funziona il GNSS e i prodotti principali: u-blox, Trimble, Fixposition
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Sensor fusion
Background: Frames and time · Kalman filtering
4. Registration and mapping
Explore registration failures before studying the full SLAM system.
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Point-cloud registration with ICP
Background: Coordinate transforms
- Lab · Run in browserPerché ICP fallisce: inizializzazione, valori anomali e geometria simmetrica
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LiDAR SLAM
Background: Point-cloud registration with ICP · Pose-graph update
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Evaluating SLAM accuracy
Background: LiDAR SLAM
- Lab · Run in browserCome valutare SLAM: ATE, RPE, tempo di esecuzione e guasti
5. From maps to motion
Separate map representation, paths and behavior, then connect them with Nav2.
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Occupancy grids
Background: Coordinate transforms
More questions on this topic
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Path search on a map
Background: Occupancy grids
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Behavior selection
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