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Project Overview
This document is a work in progress with the eventual hope that the project details and procedures will be posted here in their entirety.
Project Goals:
The goal of this project is to develop an autonomous bicycle that can follow a predefined path predictably and consistently. Once finished, the bike will be used to evaluate autonomous vehicle safety systems and improve their ability to detect cyclists.
Current Status:
The project can be structured into three main groups: Electronics, Mechanical Design and Control. Please see those pages for more detailed information.
In brief:-
What works:
- A prototype bike has been developed with the necessary sensors and actuators functioning correctly.
- A bicycle model and controller have been developed and run in simulation.
What doesn’t:
- The bike can’t balance yet. A 3-state LQR controller has been developed but it requires tuning.
What needs improvement:
- The WiFi range of the current onboard computer (BeagleBone Black Wireless edition) is extremely limited and not suitable for tests.
- The size of the enclosure should be reduced.
- The circuitry should get a modular redesign with improved connectors.
- The current circuit doesn’t allow battery voltage levels and current draw to be monitored.