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Coordinate systems

Coordinate systems and especially transformations between local and world coordinates are used in robotics very often. Here is a small but practical introduction into the topic.

There are different types of coordinate systems but when we talk about robotic the most popular are:

 

Kalman Filter

Kalman Filter is over 50 years old but is still one of the most used data fusion algorithms used today. It is a popular technique for estimating the state of a system. Kalman filters estimate a continuous state and gives a uni-modal distribution. Uni-modal = when we use KF for a robot position estimation, KF gives us only one possibility where the robot is located with a certain possibility

 

 

LTI systems 2

After all the theory we went through in the part 1 it is time for a real design of control system. In this part we are about to design a full state feedback control system of the magnetically suspended ball.

 

LTI systems 1

The very first step in the control design process is to develop appropriate mathematical model of the system derived either from physical laws or experimental data. We introduce the state-space and transfer function representations of dynamic systems. We then review some basic approaches to modeling mechanical and electrical systems and show how to enter these models into MATLAB for further analysis.

 

Control of mobile robots 1

After passing the coursera.org course Control of Mobile Robots taught by a great professor Magnus Egerstedt. I have created a simulation of the differential drive robot.

 

PID regulator

A proportional-integral-derivative controller (PID controller) is a loop feedback controller (mechanism).

 

Eight Puzzle game solved by A* algorithm

Here you can find eight puzzle game solved by A* algorithm.

 

 

A* search algorithm

The algorithm is widely used in path-finding and graph traversal problems. It is an extension of Edsger Dijkstra's algorithm (1959). A* achieves better performance (with respect to time) by using heuristic function.

 

 

My experience with Objective-C in Code Block

Recently I ran into a problem how to compile Objective-C code together with an existing C++ code. Here are my notes:

 

Dijkstra's algorithm

Dijkstra's algorithm named after Dutch computer scientist Edsger Dijkstra who discovered it in 1956 and published in 1959.

 


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