Overview of APP4MC RaceCar Components

The APP4MC Racecar is designed on a 1/10th Traxxas 4x4 Slash Platinum edition chassis. It comes with an in-build DC and servo motor along with an Electronic Speed Controller.

The demonstrator is based on the OCM (Operator-Controller Model) architecture. The NVIDIA Jetson AGX Xavier acts as a Cognitive operator which is responsible for self-optimization of the demonstrator behavior based on the chaning environmental conditions. The installed sensors Slamtech A3M1 RP Lidar and ZED2 camera are directly connected with the AGX Xavier, which enables its sensing capabilities.

The Beaglebone AI serves as a Reflective operator which processes the information received from AGX Xavier and pass it to VESC and vice-versa.

The VESC acts as a Controller layer which controls the actuators based on the information relayed bu the Reflective operator.

• NVIDIA Jetson AGX Xavier
• Beaglebone AI
• RPLIDAR A3M1
• ZED2 Camera