Difference between revisions of "Curriculum"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
Jump to: navigation, search
(Robot Components)
(Robot Components)
Line 13: Line 13:
 
:: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
 
:: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
 
:: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
 
:: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
 +
 +
# Batteries
 +
:* [https://hobbyking.com/en_us/zippy-5000mah-2s1p-20c-hardcase-pack-1.html ZIPPY 5000mAh 2S1P 20C Hardcase Pack]
 +
:* [https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60]
  
 
== Robot Motion ==
 
== Robot Motion ==

Revision as of 11:34, 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
  1. Batteries

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