Introduction

The project involves the construction of an electric go-kart that will serve as a test platform for the development of autonomous systems. The vehicle will be used to test steering, sensors, and autonomy algorithms in real-world conditions.

The design is intended to serve as the foundation for “Drive-by-Wire” technology, in which mechanical connections are replaced by digital controls, paving the way for the future implementation of vision systems and AI.

Current main objectives and functions:

• Integration of inertial measurement units (IMUs):
  The platform is equipped with accelerometers and gyroscopes. Data from the IMU will be crucial for monitoring the vehicle’s dynamics (roll, g-forces) and verifying how the commanded steering translates into the e-kart’s actual movement.
• Implementation of a virtual differential:
  An algorithm for controlling two independent rear motors is currently under development. Since wheel speed sensors are not used, the system relies on open-loop control. The main controller calculates the power difference between the left and right wheels based solely on the vehicle’s geometric data and the current reading from the steering potentiometer.
• Custom PCB design:
  Instead of using off-the-shelf solutions, we are currently developing our own PCBs. These boards are designed to integrate the control logic (Low-Level Controller) and power management. This approach allows for full control over the hardware and makes it easier to adapt it to the requirements of autonomous systems in subsequent stages.