Electromechanical System Principles and Experiments I: Mobile Robot with Navigation System

Possessing the knowledge of robotic kinematics, I planned to take courses related to self-driving cars. In particular, I wanted to know how the vehicle itself perceives the surrounding signals and makes the decision. Therefore, I took the course Electromechanical System Principles and Experiments 1, from which I obtained a basic understanding of mobile robots.

For the final project, I learned a lot of applications of LabVIEW and myRIO in this course. I built a car system capable of localizing itself and planning trajectories. The car system contained a PID controller for the motors and Kalman Filter for the state estimation. Furthermore, by integrating different sensors such as Infrared rangefinders, encoder, and IMU, the car could reach the designated location accurately. Through some little adjustment in the system, the car could accomplish tasks such as front car following as well.

Also, I got familiar with some logic circuits used in our daily life. We applied these circuits on the car to prevent some important components from damage by current or voltage overloading.

Front Car Following

https://video.wixstatic.com/video/e3e160_8f53a7a3791049678eab48ab31f3dbb9/1080p/mp4/file.mp4