Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
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自主系统实践教学：在机器人教室中利用模块化小型硬件
DOI：
10.48550/arxiv.2209.11181
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Rahul Mangharam
中科院分区：
文献类型：
--
作者：
Johannes Betz;Hongrui Zheng;Zirui Zang;Florian Sauerbeck;K. Walas;Velin D. Dimitrov;Madhur Behl;Rosa Zheng;Joydeep Biswas;V. Krovi;Rahul Mangharam
虽然机器人课程在高等教育中已经很好地建立起来，但这些课程通常侧重于理论，有时缺乏对开发，部署和将软件应用于真实的硬件所涉及的技术的系统覆盖。此外，大多数用于机器人教学的硬件平台都是针对初中学生的低级玩具。为了解决这一问题，开发了一个名为F1TENTH的自动驾驶汽车硬件平台，用于自动驾驶系统的实践教学。本文介绍了以“赛车“和取代考试的比赛为主题的各种教育级别的教学模块和软件堆栈。F1TENTH车辆提供模块化硬件平台及其相关软件，用于教授自动驾驶算法的基础知识。从基本的反应方法到高级规划算法，教学模块通过使用F1TENTH车辆进行自动驾驶来增强学生的计算思维。F1TENTH汽车填补了研究平台和低端玩具汽车之间的差距，并提供了学习自主系统主题的实践经验。四所大学多年来一直在其为期一个学期的本科和研究生课程中采用这些教学模块。学生的反馈被用来分析F1TENTH平台的有效性。超过80%的学生非常同意硬件平台和模块极大地激励了他们的学习，超过70%的学生非常同意硬件增强了他们对学科的理解。调查结果显示，超过80%的学生非常同意比赛激励他们学习课程。
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in developing, deploying, and applying software to real hardware. Additionally, most hardware platforms for robotics teaching are low-level toys aimed at younger students at middle-school levels. To address this gap, an autonomous vehicle hardware platform, called F1TENTH, is developed for teaching autonomous systems hands-on. This article describes the teaching modules and software stack for teaching at various educational levels with the theme of"racing"and competitions that replace exams. The F1TENTH vehicles offer a modular hardware platform and its related software for teaching the fundamentals of autonomous driving algorithms. From basic reactive methods to advanced planning algorithms, the teaching modules enhance students' computational thinking through autonomous driving with the F1TENTH vehicle. The F1TENTH car fills the gap between research platforms and low-end toy cars and offers hands-on experience in learning the topics in autonomous systems. Four universities have adopted the teaching modules for their semester-long undergraduate and graduate courses for multiple years. Student feedback is used to analyze the effectiveness of the F1TENTH platform. More than 80% of the students strongly agree that the hardware platform and modules greatly motivate their learning, and more than 70% of the students strongly agree that the hardware-enhanced their understanding of the subjects. The survey results show that more than 80% of the students strongly agree that the competitions motivate them for the course.
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