Difference between revisions of "Curriculum"
From MAE/ECE 148 - Introduction to Autonomous Vehicles
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== Robot Components == | == Robot Components == | ||
| − | + | # [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy] | |
| − | * | + | :* Drive train: |
| − | + | :: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac 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 | |
| − | * | + | :* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]: |
| − | + | :: 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] | |
| − | + | :: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension] | |
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== Robot Motion == | == Robot Motion == | ||
Revision as of 10:02, 3 October 2017
The following topics will be covered in this class:
Contents
Robot Components
- 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
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
