CDS 110b: Control Implementation: Difference between revisions
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<ol type=I> | <ol type=I> | ||
<li> Interface hardware | <li> Interface hardware | ||
* Actuation: steering, (throttle, brake) | |||
* Sensing: GPS, IMU, steering angle | |||
* Serial interface summary | |||
<li> Interface software (follow) | <li> Interface software (follow) | ||
* Quick overview of sparrow | |||
* Description of the control architecture (handout) | |||
* Overview of the user interface | |||
<li> Implementing controllers on Alice | <li> Implementing controllers on Alice | ||
* Example: PI control of steering | |||
</ol> | </ol> | ||
Revision as of 01:23, 3 January 2006
Lecture 1 Outline
- Course Project Structure
- Brief Introduction to Alice
- High level architecture
- Control specifications
- Inner loop control architecture: Follower, AState
- Alice operations (video): desert testing, NQE, GCE
Lecture 2 Outline
- Video of Alice follower performance
- External view
- Internal (planner) view
- Alice dynamics
- Bicycle model
- Nonlinear effects: magnitude and rate limits
Lecture 3 Outline
- Interface hardware
- Actuation: steering, (throttle, brake)
- Sensing: GPS, IMU, steering angle
- Serial interface summary
- Interface software (follow)
- Quick overview of sparrow
- Description of the control architecture (handout)
- Overview of the user interface
- Implementing controllers on Alice
- Example: PI control of steering
