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]
:* [https://www.thrillist.com/cars/nation/awd-vs-4wd-the-real-difference-between-car-drivetrains 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)
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#: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof)
:: 100A [https://www.youtube.com/watch?v=OZNxbxL7cdc Brushless ESC] w/ [https://www.youtube.com/watch?v=9EeuaofVwvE 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 [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof)
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#: 18Kg Heavy Duty Steering [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof)
:: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear])
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#: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear])
:* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
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#* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
:: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
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#: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
:: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
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#: 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]
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#: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
 
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# Electronics:
# Batteries
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#* Batteries
:* [https://hobbyking.com/en_us/zippy-5000mah-2s1p-20c-hardcase-pack-1.html ZIPPY 5000mAh 2S1P 20C Hardcase Pack]
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#: [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]
+
#: [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 12:11, 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
  2. Electronics:
    • Batteries
    ZIPPY 5000mAh 2S1P 20C Hardcase Pack
    Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60

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