Intelligent drive control for RobonAUT vehicle

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Dr. Tevesz Gábor
Department of Automation and Applied Informatics

Nowadays the development of autonomous vehicles is a trending topic of researches. The competition held by the Department of Automation and Applied Informatics of BME called RobonAUT also aims for this perspective. There, the attendants have to transform an RC car into an autonomous robot, which can follow a line and do other tasks, like parking or bypassing obstacles. My thesis is about the further development of one of these cars, with capabilities beyond racing. My part of the development was to equip the powertrain of an RC car provided by the department with independent front-wheel and rear-wheel drive. The goal of this is to control the car's understeer and oversteer. The first part of my thesis is about the design and implementation of the mechanical changes, while in the second part I will describe the basic principles of BLDC (Brushless DC) motor controllers and the possible ways of controlling them. After that I will present my implementation of a motor controller capable of driving two independent motors, with the fundamental parts of designing and building . Finally I summarize my experiences and ideas for further improvements.


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