Conferencia

Pessacg, F.; Nitsche, M.; Teijeiro, A.; Martln, D.; Cristoforis, P.D.; Brengi D.; Lipovetzky J.; Lutenberg A.; De Micco L.; Garcia Inza M.; Maximiliano A. "Open-source embedded framework for unmanned ground vehicle control using CIAA" (2017) 8th Argentine Symposium and Conference on Embedded Systems, CASE 2017
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Abstract:

In this paper a new open-source and open-hardware framework for Unmanned Ground Vehicle (UGV) control is described. The hardware is based on CIAA (Computadora Industrial Abierta Argentina) and Arduino modules while the software is based on NuttX real-Time operating system (RTOS). For communication, the MAVlink protocol is used, also enabling interfacing with ROS (Robot Operating System). The framework can be employed for different style UGVs (differential drive, omnidirectional, skid steer) with different number of motorized wheels. It is designed for low-cost and ease of integration and adoption. The proposed framework was employed as the control system of a four-wheel skid-steer rover protoype developed by the authors, which is also described as a part of this work. © 2017 ACSE.

Registro:

Documento: Conferencia
Título:Open-source embedded framework for unmanned ground vehicle control using CIAA
Autor:Pessacg, F.; Nitsche, M.; Teijeiro, A.; Martln, D.; Cristoforis, P.D.; Brengi D.; Lipovetzky J.; Lutenberg A.; De Micco L.; Garcia Inza M.; Maximiliano A.
Filiación:CONICET-Universidad de Buenos Aires, Instituto de Investigacíon en Ciencias de la Computacíon (ICC), Argentina
Universidad de Buenos Aires, Facultad de Ciencias Exactas y Naturales, Departamento de Computacíon, Argentina
Facultad de Arquitectura, Diseno y Urbanismo, Universidad de Buenos Aires, Argentina
Palabras clave:Computer operating systems; Control system synthesis; Embedded systems; Ground vehicles; Hardware; Open source software; Open systems; Wheels; Differential drive; Motorized wheels; Open hardware; Open sources; Real time operating system; Robot operating system; Skid steers; Unmanned ground vehicles; Intelligent vehicle highway systems
Año:2017
DOI: http://dx.doi.org/10.23919/SASE-CASE.2017.8115372
Título revista:8th Argentine Symposium and Conference on Embedded Systems, CASE 2017
Título revista abreviado:Argentine Symp. Conf. Embed. Syst., CASE
Registro:https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97898746_v_n_p_Pessacg

Referencias:

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Citas:

---------- APA ----------
Pessacg, F., Nitsche, M., Teijeiro, A., Martln, D., Cristoforis, P.D., Brengi D., Lipovetzky J.,..., Maximiliano A. (2017) . Open-source embedded framework for unmanned ground vehicle control using CIAA. 8th Argentine Symposium and Conference on Embedded Systems, CASE 2017.
http://dx.doi.org/10.23919/SASE-CASE.2017.8115372
---------- CHICAGO ----------
Pessacg, F., Nitsche, M., Teijeiro, A., Martln, D., Cristoforis, P.D., Brengi D., et al. "Open-source embedded framework for unmanned ground vehicle control using CIAA" . 8th Argentine Symposium and Conference on Embedded Systems, CASE 2017 (2017).
http://dx.doi.org/10.23919/SASE-CASE.2017.8115372
---------- MLA ----------
Pessacg, F., Nitsche, M., Teijeiro, A., Martln, D., Cristoforis, P.D., Brengi D., et al. "Open-source embedded framework for unmanned ground vehicle control using CIAA" . 8th Argentine Symposium and Conference on Embedded Systems, CASE 2017, 2017.
http://dx.doi.org/10.23919/SASE-CASE.2017.8115372
---------- VANCOUVER ----------
Pessacg, F., Nitsche, M., Teijeiro, A., Martln, D., Cristoforis, P.D., Brengi D., et al. Open-source embedded framework for unmanned ground vehicle control using CIAA. Argentine Symp. Conf. Embed. Syst., CASE. 2017.
http://dx.doi.org/10.23919/SASE-CASE.2017.8115372