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Introduction
This was taken from the initial project list:
The aim of this project is to take the departments go-karts and build in a system to replace the human driver. This will entail (at least), selection of appropriate actuators, motion and distance sensors, development of a navigation system, an interface to the existing control system, and a central computing platform. A suitable navigational goal would include a circumnavigation of S block.
To retrofit one of the EE department's electric go-karts with a drive by wire system, controllable over a single USB interface. Add to this a simple example of a closed-loop controller using sensors and software running on a *nix laptop.
To accomplish this goal a system for controlling the kart was designed. This design used five identical boards each containing one micro-controller and attached to a CAN bus. The details of the network connections can be found on the Can bus page.
Each board performed one task. These tasks were
- Controlling the brake actuator
- Controlling the steering servo
- Communicating with the laptop
- Pulling data off the sensors
- Communicating with the current power electronics
For more info on the board design, see Board Design.
Behavioural-level software runs on a laptop connected to this network via USB on the Comms board. The current state of the software running on the laptop is gone into on the Computer Vision page.
Develop a more complete sensor network (possibly including computer vision in collaboration with COSC428) alongside more advanced controller software.
For a more information on an area of the project see the links to the area of interest found on the Home page