Powertrain/ Steering Subsystem
The Powertrain & Steering Subsystem provides the "how" for AEVS when it comes to maneuvering throughout UH Manoa's Upper Campus. Previous iterations utilized motors, gears, and wheels to propel the AEVS forward and backward but have failed to properly implement a successful steering mechanism. Our design will solve this by simplifying the mechanisms of steering.
Steering Mechanism
Previous iterations tried to implement the mechanism seen in automobiles. These mechanisms are extremely complicated and they were not able to properly implement it to work properly. We plan on utilizing differential steering which is seen in motorized wheelchairs. This design is much simpler and provide a wider turning range. It also makes more sense as automobiles are larger and move faster while the motorized wheelchair has similar size, driving speed, and driving conditions to the AEVS.
Implementation
The pre-existing rear wheels and drive motors can be reused to accomplish differential steering, but will need to be programmed to run at independent speeds. The front wheels will be replaced with heavy duty caster wheels to guide the AEVS in the desired direction based off of the differing speeds of the two drive wheels. A gyroscope sensor will also be implemented to detect and regulate drifting from the straight line path.