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
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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
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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
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DOI: |
http://dx.doi.org/10.23919/SASE-CASE.2017.8115372 |
Título revista: | 8th Argentine Symposium and Conference on Embedded Systems, CASE 2017
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Título revista abreviado: | Argentine Symp. Conf. Embed. Syst., CASE
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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