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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Detalles Bibliográficos
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
Descripción
Sumario: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.

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