Open-source embedded framework for unmanned ground vehicle control using CIAA

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,...

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Autores principales:	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.
Formato:	CONF
Materias:	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
Acceso en línea:	http://hdl.handle.net/20.500.12110/paper_97898746_v_n_p_Pessacg
Aporte de:	Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) de Universidad de Buenos Aires

id	todo:paper_97898746_v_n_p_Pessacg
record_format	dspace
spelling	todo:paper_97898746_v_n_p_Pessacg2023-10-03T16:45:31Z Open-source embedded framework for unmanned ground vehicle control using CIAA 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. 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 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. CONF info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/2.5/ar http://hdl.handle.net/20.500.12110/paper_97898746_v_n_p_Pessacg
institution	Universidad de Buenos Aires
institution_str	I-28
repository_str	R-134
collection	Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA)
topic	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
spellingShingle	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 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
topic_facet	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
description	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.
format	CONF
author	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.
author_facet	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.
author_sort	Pessacg, F.
title	Open-source embedded framework for unmanned ground vehicle control using CIAA
title_short	Open-source embedded framework for unmanned ground vehicle control using CIAA
title_full	Open-source embedded framework for unmanned ground vehicle control using CIAA
title_fullStr	Open-source embedded framework for unmanned ground vehicle control using CIAA
title_full_unstemmed	Open-source embedded framework for unmanned ground vehicle control using CIAA
title_sort	open-source embedded framework for unmanned ground vehicle control using ciaa
url	http://hdl.handle.net/20.500.12110/paper_97898746_v_n_p_Pessacg
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Open-source embedded framework for unmanned ground vehicle control using CIAA

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