Controls and Autonomy Research Testbed (C.A.R.T.)

Author(s) Information

Sydney S. Ulvick, California Polytechnic State University, San Luis ObispoFollow
Joseph Micheal Sleeman, California Polytechnic State University, San Luis ObispoFollow
Mason Snyder, California Polytechnic State University, San Luis ObispoFollow
Lucas Grizzle, California Polytechnic State University, San Luis ObispoFollow
Aidan Schwing, California Polytechnic State University, San Luis ObispoFollow

College - Author 1

College of Engineering

Department - Author 1

Mechanical Engineering Department

Degree Name - Author 1

BS in Mechanical Engineering

College - Author 2

College of Engineering

Department - Author 2

Mechanical Engineering Department

Degree - Author 2

BS in Mechanical Engineering

College - Author 3

College of Engineering

Department - Author 3

Mechanical Engineering Department

Degree - Author 3

BS in Mechanical Engineering

College - Author 4

College of Engineering

Department - Author 4

Mechanical Engineering Department

Degree - Author 4

BS in Mechanical Engineering

Date

6-2024

Primary Advisor

Lauren Rueda, College of Engineering, Mechanical Engineering Department

Abstract/Summary

Our team, Controls and Autonomy Research Testbed (CART) team modified and built upon the work of the Battery-Powered Autonomous Cart conversiON (BACON) senior project. BACON was the project before ours, with the goal of developing an autonomous vehicle platform for use as a test platform by the Mechanical Engineering department at California Polytechnic State University (Cal Poly). The project's scope included a redesign of the braking and steering systems, a ground-up design of the e-stop and acceleration systems, and integration with an embedded controller. This project was proposed by Professor Birdsong, who desires a platform for autonomous vehicle control system testing, which faculty and graduate researchers can use to test their control systems and algorithms.

The final design review serves to document all the progress made on the project henceforth. A summary of the design and design modifications are included. The manufacturing steps are documented. With a completed and manufactured design, testing was performed on the steering system, wheel speed sensors, and braking system. Finally, a reflection of the project included along with recommendations for future advancements to the project.

URL: https://digitalcommons.calpoly.edu/mesp/782