Development of Control System for International Autonomous Driving Competition Using Robot Operating System

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

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ROS Based Voice-Control Navigation of Intelligent Wheelchair

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.733.740 ◽

2015 ◽

Vol 733 ◽

pp. 740-744 ◽

Cited By ~ 1

Author(s):

Yi Zhang ◽

Shi Chuan Xu

Keyword(s):

Operating System ◽

Control System ◽

System Development ◽

Powered Wheelchair ◽

Robot Operating System ◽

Intelligent Wheelchair ◽

Software Packages ◽

Voice Control ◽

The Cost ◽

The Voice

Compared with the traditional electric-powered wheelchair, people are paying more attention on intelligent wheelchair. While the traditional intelligent wheelchair relays on separate designed control system, it is not good for general use. In that case, ROS provides an easy to use framework for rapid system development so that the researchers can develop various software packages to meet their needs, and we can also call each other packages without considering the compatibility problems. In this paper, we present a ROS (Robot Operating System) based intelligent wheelchair with the function of voice-control navigation. Compared with the traditional navigation, the voice-control navigation is more human. Obviously, ROS increases the versatility of system and reduces the cost. In order to prove the advancement and feasibility of this developed system, some experimental results are given in the paper.

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Marine Autonomous Exploration Using a Lidar and SLAM

Volume 6: Ocean Space Utilization ◽

10.1115/omae2017-61880 ◽

2017 ◽

Cited By ~ 4

Author(s):

Einar S. Ueland ◽

Roger Skjetne ◽

Andreas R. Dahl

Keyword(s):

Operating System ◽

Control System ◽

Open Source ◽

State Of The Art ◽

Small Scale ◽

Motion Controller ◽

Autonomous Exploration ◽

Robot Operating System ◽

Surface Vessel ◽

Scale Surface

This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by the use of the lidar and SLAM. This includes a presentation and discussion of experimental results. The completion of this system has involved the development of a suitable control system that merges exploration strategies, path planners, a motion controller, and a strategy for generating controller setpoints. The system was implemented on the Robot Operating System platform, which made it possible to utilize open-source algorithms for state of the art SLAM.

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A Robotic Control System Using Robot Operating System and MATLAB for Sensor Fusion and Human-Robot Interaction

2020 10th Annual Computing and Communication Workshop and Conference (CCWC) ◽

10.1109/ccwc47524.2020.9031184 ◽

2020 ◽

Author(s):

Ariel Y. Ramos Ruiz ◽

Balasubramaniyan Chandrasekaran

Keyword(s):

Operating System ◽

Control System ◽

Sensor Fusion ◽

Human Robot Interaction ◽

Robotic Control ◽

Robot Interaction ◽

Robot Operating System

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A Robot Operating System Framework for Secure UAV Communications

Sensors ◽

10.3390/s21041369 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1369

Author(s):

Hyojun Lee ◽

Jiyoung Yoon ◽

Min-Seong Jang ◽

Kyung-Joon Park

Keyword(s):

Operating System ◽

Unmanned Aerial Vehicles ◽

Ground Control ◽

Unmanned Aerial System ◽

Security Framework ◽

Security Vulnerabilities ◽

Robot Operating System ◽

Security Issues ◽

Aerial Vehicles ◽

Ground Control Station

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

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Independent wheel control system design for highly automated driving

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211006525 ◽

2021 ◽

pp. 095440702110065

Author(s):

Shihuan Li ◽

Lei Wang

Keyword(s):

Control System ◽

Control Method ◽

Autonomous Driving ◽

Control System Design ◽

Steering Control ◽

Automated Driving ◽

Accuracy And Precision ◽

Actual Observation ◽

Control Scheme ◽

Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

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