From MAE/ECE 148 - Introduction to Autonomous Vehicles
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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


  • 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