From MAE/ECE 148 - Introduction to Autonomous Vehicles
Jump to navigation Jump to search

The following topics will be covered in this class:

Vehicle 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
  2. Electronics
    • Batteries
    ZIPPY 5000mAh 2S1P 20C Hardcase Pack
    Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60
    • Servo controller
    16 Channel 12 Bit PWM Servo Driver for Arduino and Raspberry Pi
    • Raspberry PI
    CanaKit Raspberry Pi 3 Kit with Clear Case and 2.5A Power Supply
    • Camera
    SainSmart Wide Angle Fish-Eye Camera Lenses for Raspberry Pi Arduino
    • Emergency switch
    eMylo® DC 12V 1CH 433Mhz RF Relay Smart Wireless Remote Control Light Switch Transmitter with One Relay Receiver

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