Difference between revisions of "Curriculum"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
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(Robot Components)
(Robot Components)
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== Robot Components ==
 
== Robot Components ==
  
* [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
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# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
* Features:
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:* Drive train:
* 1845KV Brushless Inrunner Motor (Waterproof)
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:: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless] Inrunner Motor (Waterproof)
* 100A Brushless ESC w/ Reverse (waterproof)
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:: 100A Brushless ESC w/ Reverse (waterproof)
* 18Kg Heavy Duty Steering Servo (waterproof)
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:: 18Kg Heavy Duty Steering Servo (waterproof)
* Full time 4WD  
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:: Full time 4WD  
* Hardened steel pinion gear  
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:: Hardened steel pinion gear  
* Heavy duty drive shafts  
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:: Heavy duty drive shafts  
* Hardened metal drive cups
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:* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
* Full ball bearings
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:: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
* Adjustable screw shock absorbers
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:: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
* Alloy oil filled big bore shock absorbers
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:: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
* Adjustable toe-in and toe-out  
 
* Adjustable camber and castor
 
* Independent wishbone suspension
 
* Shock tower support brace
 
  
 
== Robot Motion ==
 
== Robot Motion ==

Revision as of 11:02, 3 October 2017

The following topics will be covered in this class:

Robot Components

  1. Basher SaberTooth 1/8 Scale Truggy
  • Drive train:
1845KV Brushless Inrunner Motor (Waterproof)
100A Brushless ESC w/ Reverse (waterproof)
18Kg Heavy Duty Steering Servo (waterproof)
Full time 4WD
Hardened steel pinion gear
Heavy duty drive shafts
Alloy oil filled big bore adjustable screw shock absorbers
Adjustable camber, caster, toe-in and toe-out
Independent wishbone suspension

Robot Motion

  • Differential drive
  • Ackermann steering
  • Basic path planning

Sensors

  • Encoders
  • IMU
  • Camera

Feedback control

  • Why feedback?
  • PID control

Odometry

  • Encoders
  • IMU
  • Visual

Vision

  • Open CV
  • Obstacle avoidance
  • Performance considerations

Embedded Systems

  • Introduction to robotics
  • Centralized vs. distributed control
  • Closed loop vs. open loop control in mobile robots
  • On-board, off-board computing vs. on-line-computing and hybrid mode
  • Real-time systems vs. non-deterministic embedded systems
  • Robotics telemetry - low range high throughput, long range low throughput

Autonomous Vehicle

  • State-of-the-art