Curriculum

From MAE/ECE 148 - Introduction to Autonomous Vehicles
Revision as of 11:34, 3 October 2017 by Mauricio (talk | contribs) (Robot Components)
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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