研究・教育向けネットワーク自律走行スケールモデル車両
Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education
研究・教育用に開発された1:18スケールのアッカーマン操舵モデルカーμCarを提案し、WLAN経由の遠隔制御とオンボード制御の2モードで多数台の協調実験を可能にした。
著者: Patrick Scheffe, Janis Maczijewski, Maximilian Kloock, Alexandru Kampmann, Andreas Derks, Stefan Kowalewski, Bassam Alrifaee
分類: cs.RO, cs.MA
原文アブストラクト
This paper presents the $\mathrm{\mu}$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and obtains its pose via WLAN from an indoor positioning system. The two supported operating modes for controlling the vehicle are (1) computing control inputs on external hardware, transmitting them via WLAN and applying received inputs to the actuators and (2) transmitting a reference trajectory via WLAN, which is then followed by a controller running on the onboard Raspberry Pi Zero W. The design allows identical vehicles to be used at the same time in order to conduct experiments with a large amount of networked agents.
