CDS 110b: Control Implementation

Lecture 1 Outline

1. Course Project Structure
2. Brief Introduction to Alice
   • High level architecture
   • Control specifications
   • Inner loop control architecture: Follower, AState
3. Alice operations (video): desert testing, NQE, GCE

Lecture 2 Outline

1. Video of Alice follower performance
   • External view
   • Internal (planner) view
2. Alice dynamics
   • Bicycle model
   • Nonlinear effects: magnitude and rate limits

Lecture 3 Outline

1. Interface hardware
   • Actuation: steering, (throttle, brake)
   • Sensing: GPS, IMU, steering angle
   • Serial interface summary
2. Interface software (follow)
   • Quick overview of sparrow
   • Description of the control architecture (handout)
   • Overview of the user interface
3. Implementing controllers on Alice
   • Example: PI control of steering