Difference between revisions of "Curriculum"
From MAE/ECE 148 - Introduction to Autonomous Vehicles
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# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy] | # [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy] | ||
| − | + | #* [https://www.thrillist.com/cars/nation/awd-vs-4wd-the-real-difference-between-car-drivetrains Drive train]: | |
| − | + | #: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof) | |
| − | + | #: 100A [https://www.youtube.com/watch?v=OZNxbxL7cdc Brushless ESC] w/ [https://www.youtube.com/watch?v=9EeuaofVwvE Reverse] (waterproof) | |
| − | + | #: 18Kg Heavy Duty Steering [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof) | |
| − | + | #: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear]) | |
| − | + | #* [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] | |
| − | + | # Electronics: | |
| − | # Batteries | + | #* Batteries |
| − | : | + | #: [https://hobbyking.com/en_us/zippy-5000mah-2s1p-20c-hardcase-pack-1.html ZIPPY 5000mAh 2S1P 20C Hardcase Pack] |
| − | : | + | #: [https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60] |
== Robot Motion == | == Robot Motion == | ||
Revision as of 12:11, 3 October 2017
The following topics will be covered in this class:
Contents
Robot Components
- 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
- Electronics:
- 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
