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The µCars are networked connected and autonomous automated model-scale vehicles (with a scale of 1:18 model-scale vehicle based on a Ford Focus ) with Ackermann steering geometry developed for experiments developed for experiments in networked and autonomous driving in research and education. The vehicle is open-source, moderately costed, and highly flexible, which allows for many applications. It obtains its pose (position and orientation) via WLAN from the IPS and is equipped with an inertial measurement unit and an odometer. The μCar is based on the XRAY M18 PRO LiPo Kit (PN 380003). It is combined with other off-the-shelf components and custom electronics.
Specifications
Physical representation | Value | |||
Vehicle length | 220 mm | |||
Vehicle width | 107 mm | |||
Vehicle height | 70 mm | |||
| Wheelbase | 150 mm | |||
Min. radius of curvature for steering | 0.3 m | |||
| Max. steering angle | 35 deg | |||
Max. speed total | 3.7 m/s | Max. speed in curvature | 1 m/s(limited by software) | 2.3 m/s |
| Weight | 500 g | |||
| Weight distribution front:back | 0.48:0.52 | |||
| Weight distribution left:right | 0.56:0.44 |
Hardware
Architecture
Components
Off-the-shelf components:
- Gens Ace 3500 mAh 7.4V 2S LiPo Battery Pack
- Hitec Servo D89MW
- Motor Johnson NF113LG-011
- Pololu VNH5019 Motor Driver Carrier
- Adafruit BNO055 Absolute Orientation Sensor
- Raspberry Pi Zero W
- Microchip AVR ATmega2560
Custom electronics:
- For connecting COTS components
- Battery protection
- Magnetic odometer
- Position LEDs
- Switch, fuse, charging connector
All components are connected via a printed circuit board.
References
Overview
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