[SP] Advanced Braking on the Go-kart

[datahaki]

Background

The brake on the autonomous go-kart consist of the built-in hydraulic braking system behind a pedal that can be actuated by the human driver or alternatively, by a software controlled linear motor. One shortcoming of the braking system is that the brake cannot be actuated on the left and right rear wheel tire individually.

Prior investigations of the braking system have established response time, and braking deceleration at locked tires. Prior control strategies were a simple anti-lock logic.

Task Description

• carry out experiments that investigate
  • the braking effect under different track conditions
  • temperature rise of linmot
• enhance the existing anti-lock braking by incorporating the rear-wheel motors (and wheel odometry)
• develop a model for the brake and braking effect of the go-kart for use in a MPC
• develop and test MPC-based deceleration with performance guarantees that does not violate constraints on operating temperature and anti-lock characteristics

References

• Emergency Braking
• Anti-lock Braking