The design and construction of electronic motor control and network interface hardware for advance concept urban mobility vehicles

Abstract

Over the past several years, the Smart Cities Group at MIT's Media Lab has engaged in research to develop several advanced concepts for vehicles to improve urban mobility. This research has focused on developing a modular vehicle architecture, centered around the concept of the self-contained Wheel Robot. The goal is to develop Wheel Robot systems in which all power, transmission, suspension, and steering functions are incorporated into self-contained units with a simple, standardized interface providing for mechanical mounting, electrical power distribution, and access to the vehicle control network. This thesis outlines my research and design work implementing several electronic power and control systems that contribute to ongoing Wheel Robot development efforts. The designs for a high-current motor controller and two electronic sensing and control interfaces are described, and several strategies for further control systems development are proposed.