Computational Motion Planning 第2+3+4周
首先这个系列的第一个单元是空中机器人，博客如下：
1 Robotics: Aerial Robotics 第1+2周 课程学习记录及课后习题解答
1 Robotics: Aerial Robotics 第3+4周 课程学习记录及课后习题解答
2 Robotics: Computational Motion Planning 第1周（内含Dijkstra 和 A* MATLAB代码手把手教学）课后习题解答
此课程在Coursera需要科学上网才能观看，但是b站有人搬运，只是无中英字幕，放一下B站和Coursera的课程链接
此文仅为听课记录以及做题思考，可以的话我会将题目和代码题都搬运一下
VS 为视频字幕，MI为个人想法，有所错误或是好的想法欢迎评论区交流。
- 2.20：emm,2.24就有完整的了，这不完整的连编程都没法往下做（这个单元课编程作业都不有什么说明… 不像空中机器人的编程作业都有单独的pdf来说明）
- 2.21：今天把第3周的课都更新完吧… 再拖着后面的课可能比较慢
2 Robotics: Computational Motion Planning
WEEK - 2
Quiz
1.Configuration Space obstacles allow us to model:
Both the geometry of the robot and the shapes of the obstacles in the environment
2.The effective dimension of the configuration space of the robot is determined by:
The number of joints or degrees of freedom that the robot mechanism has. For example a robots that can translate and rotate in the plan will have a 3 dimensional configuration space reflecting 2 degrees of translational freedom and 1 rotational. A robot with 5 revolute joints will have a 5 dimensional configuration space.
3.True or false: the Visibility graph method is complete because it will always find a path through space if one exists and report failure if there is no path.
Yes
4.True or false, the Trapezoidal Decomposition method is complete because it will always find a path through space if one exists and report failure if there is no path.
Yes
WEEK - 3
这周，专门讲的是：
PRM——随机路标图
RRT——快速搜索树
有关博客链接（博客园）：
PRM路径规划算法
RRT路径规划算法
Quiz
1.True or false : The Probabilistic RoadMap procedure tries to builds a graph that captures the structure of the entire configuration space before it tries to find a route between two points.
True
2.True or false: the Probabilistic Roadmap (PRM) method is complete because it will always find a path through space if one exists and report failure if there is no path.
False
3.True or false: the Rapidly Exploring Random Tree (RRT) method is complete because it will always find a path through space if one exists and report failure if there is no path.
False
解释：视频中也说了RRT是大概率上是完整的，也就是绝大部分都能找到路径
Assignment: Random Sampling Approaches
Question: In this assignment you will be writing a program to help guide the six link robot shown in the figure below from one configuration to another while avoiding the objects in the workspace. This assignment will give you some experience working with planning methods based on random sampling.
WEEK - 4
Quiz
1.Artificial Potential Fields are designed to (click all that apply):
Atrract the robot to the goal
Repel the robot from obstacles
2.True or false: the Artificial Potential field method is complete because it will always find a path through space if one exists and report failure if there is no path.
F
3.True or false: Artificial Potential Field methods can lead the robot to become stuck at locations other than the desired goal location.
T
Assignment: Random Sampling Approaches
Question: In this assignment, you will be developing a code to guide a robot from one location to another in a 2-dimensional configuration space using artificial potential fields.
来源：CSDN
作者：Kin__Zhang
链接：https://blog.csdn.net/qq_39537898/article/details/104400702