A miniaturized four-wheel robotic vehicle for autonomous driving research in off-road scenarios
Lucas A. C. de O. Nogueira1; Mauro F Koyama2; Rafael de A. Cordeiro3; Alexandre M. Ribeiro1; Samuel S. Bueno2; Ely C. de Paiva1
1 Universidade Estadual de Campinas - FEM/UNICAMP; 2 Centro de Tecnologia da Informação Renato Archer; 3 Instituto Superior Técnico
Baixar PDF doi:10.20906/CPS/CBA2018-0369
Resumo
This article presents a miniaturized four-wheel robotic vehicle for autonomous driving research. It enables experiments in situations where testing with full-size vehicles becomes dangerous or troublesome. The article describes the physical structure of the vehicle, its actuators and sensing capabilities and the ROS-based software architecture. The vehicle will serve as a platform for future research in the areas of Perception, Planning and Control, particularly for off-road scenario. Validation results are presented which demonstrate that the vehicle is ready to be used in further research applications.
Palavras-chave: Autonomous Navigation; Outdoor Robotics