From MAE/ECE 148 - Introduction to Autonomous Vehicles
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The following topics will be covered in this class:

Robot Components

  • Basher SaberTooth 1/8 Scale Truggy
  • Features:
  • 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
  • Hardened metal drive cups
  • Full ball bearings
  • Adjustable screw shock absorbers
  • Alloy oil filled big bore shock absorbers
  • Adjustable toe-in and toe-out
  • Adjustable camber and castor
  • Independent wishbone suspension
  • Shock tower support brace

Robot Motion

  • Differential drive
  • Ackermann steering
  • Basic path planning


  • Encoders
  • IMU
  • Camera

Feedback control

  • Why feedback?
  • PID control


  • Encoders
  • IMU
  • Visual


  • 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