Curriculum

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 (video on differential gear)

   • Suspension:

   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