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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# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
 
# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
:* Drive train:
+
:* [https://www.thrillist.com/cars/nation/awd-vs-4wd-the-real-difference-between-car-drivetrains Drive train]:
 
:: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof)
 
:: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof)
:: 100A Brushless ESC w/ Reverse (waterproof)
+
:: 100A [https://www.youtube.com/watch?v=OZNxbxL7cdc Brushless ESC] w/ [https://www.youtube.com/watch?v=9EeuaofVwvE Reverse] (waterproof)
:: 18Kg Heavy Duty Steering Servo (waterproof)
+
:: 18Kg Heavy Duty Steering [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof)
:: Full time 4WD  
+
:: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear])
:: Hardened steel pinion gear  
 
:: Heavy duty drive shafts
 
 
:* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
 
:* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
 
:: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
 
:: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]

Revision as of 11:30, 3 October 2017

The following topics will be covered in this class:

Robot Components

  1. Basher SaberTooth 1/8 Scale Truggy
1845KV Brushless Inrunner Motor (Waterproof)
100A Brushless ESC w/ Reverse (waterproof)
18Kg Heavy Duty Steering Servo (waterproof)
Full time 4WD (video on differential gear)
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