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How to Jump with RC-Cars

Author(s):

F. Böwing, A. Schaper, J. Schuurmans Stekhoven
Conference/Journal:

Group Thesis, SS16 (10521 - 23)
Abstract:

In this thesis a systematic way to design, test and evaluate jumps for miniature race cars is developed. Therefore, in a first phase the existing hardware and controller framework is extended by a PID path tracking controller that can follow a predefined path and velocity profile. To perform successive jumps, the car drives in an oval were on one straight a jump is located. On top of the PID controller, a control strategy to perform reliable jumps is developed, which consists of open loop policies during take-off and flying phase of the car, as the feedback of the vision system in these phases is not reliable. Secondly a take-off and landing ramp is designed, where the design is based on a point mass model with air drag. The goal in the design process was to maximize the jumped distance while keeping the impact velocity low, for a certain range of take-off velocities. In a third phase, the control strategy and ramps are tested experimentally. The jumps are evaluated using a vision based system using a GoPro, allowing position and angle tracking. The experiments confirmed that the used model is accurate, and can be used to design jumps. The experiments also confirmed that the setup allows reliable jumps and landings, with a jumping distance of approximately five car lengths.

Supervisors: Alex Liniger, Damian Frick, Prof. John Lygeros

Year:

2016
Type of Publication:

(16)Semester Group Work
Supervisor:



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