UGV Board for the Autonomous Car

Date Sat 24 November 2012
 

UGV Board v1.1

Unmanned Ground Vehicle board for the ChipKit Max32

The UGV board is my attempt to put together all the things I found useful in building my autonomous car and a few new features that I thought would be good to have. As always you can find the latest source files for all my work on my Github page. The goal was to build a board that will work well with my autonomous car setup but also have the ability to adapt for use in other autonomous robotics projects.

eagle

At the time of writing this the UGV v1.1 has the following features.

  • Onboard gyroscope

  • MicroSD card

  • Breakout for a GPS antenna ...


Balancing Robot

Date Sun 27 May 2012
 

The goal of this project is to make a self balancing robot, also called an inverted pendulum. The basic idea is that you have a mass located above its pivot point. This causes the robot to be unstable, and without any help, it will quickly fall over. Sensors on the robot will take acceleration and gyroscope measurements, which are sent to a control algorithm. As the robot starts to fall, the control algorithm will send a signal to the motor, telling it which direction and how much to move in order to keep the robot upright. This project involves a huge range of knowledge from mathematics, mechanics, and programming. And as I've quickly learned, the theory is a lot more complex than I originally thought. When I set out to make this robot, I decided to work towards a few specific goals:

  1. Keep the cost as low as possible ...

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