Control of Mobile Robots- 2.2 Differential Drive Robots

About the Course
This course investigates how to make mobile robots move in effective, safe, and predictable ways. The basic tool for achieving this is "control theory", which deals with the question of how dynamical systems, i.e., systems whose behaviors change over time, can be effectively influenced. In the course, these two domains - controls and robotics - will be interleaved and we will go from the basics of control theory, via robotic examples of increasing complexity - all the way to the research frontier. The course will focus on mobile robots as the target application and problems that will be covered include (1) how to make (teams of) wheeled ground robots avoid collisions while reaching target locations, (2) how to make aerial, quadrotor robots follow paths in the presence of severe disturbances, and (3) how to locomotive bipedal, humanoid robots.
About the Instructor(s)
Magnus Egerstedt is a Professor in the School of Electrical and Computer Engineering at the Georgia Institute of Technology, where he has been on the faculty since 2001. He is an award-winning teacher, with awards from both Georgia Tech and Harvard University. Dr. Egerstedt received the M.S. degree in Engineering Physics and the Ph.D. degree in Applied Mathematics from the Royal Institute of Technology, Stockholm, Sweden, and the B.A. degree in Philosophy from Stockholm University. Dr. Egerstedt's research interests include motion planning, control, and coordination of (teams of) mobile robots, and he is the director of the Georgia Robotics and Intelligent Systems Laboratory (GRITS Lab). Magnus Egerstedt is a Fellow of the IEEE and a recipient of the CAREER Award from the U.S. National Science Foundation.

[@chathusankajayasingha9290]

THe best tutorial I found so far. Thank you very much

[@abdullatesttest6472]

This is amazing!!!! Thank you so much! He is such an amazing teacher! Simple and effective knowledge!

[@hvincent1106]

This is really great! its clear and wonderful!!!

[@suhasinivenkatesh8188]

You are amazing!!!... I love you to the moon and back... You made my life easy.....

[@shikharsharma1495]

How come the units x dot are velocity x displacement?

[@bousiffares257]

thank you so much

[@brtk7]

Live saving.

[@ahmetsaglam8852]

Great explanation! A quick question: At 5.30, isn't it unicycle kinematics rather than dynamics?

[@thetthirinaing7169]

Thank you

[@mq-r3apz291]

I made swarm patterns using only math no sensors no communication. Its only based on current wheel speed at t time.

[@walidboss5720]

i have a question about the discrete-time state equation of the unicycle mobile robot: how can i design a linear quadratic tracker and the matrix B dependent on the current state.

[@Danish_Khan1021]

dang you're question never got answered

[@cyriljourdan1023]

Great video! Do you have a similar video for a holonomic robot with 3 wheels ?

[@oluwayinkaesan4393]

I enjoyed this session. how can I get global or world coordinate using encoder?

[@BenCauntyt]

You can keep a running total for the global x, y, and theta position. Then once you obtain each robot relative measurement you can use a rotation matrix and add the new vector to the global position.

[@harrisandrews8741]

Shouldn't v_r and v_l be w_r and w_l? v_r * R has units of m^2/s.

[@cumulus3341]

v_r and v_l (in small letters) in this case are in radians/s.

[@smitdumore1064]

@@cumulus3341 thank you

[@jxtian8950]

@@cumulus3341 Thank btw. So the notation in the video should be (omega)r and (omega)l. Using the 'v' generally stands for the linear velocity, hence this is why people are confused with what units to use.

[@ateppuja9434]

how to control 3wd omniwheel ?

[@markcalma6310]

Sir how can we navigate our robot car to go to that place and go back to its original position

[@HanhTangE]

6:04 💘😂