A MINIATURIZED FOUR-WHEEL ROBOTIC VEHICLE FOR AUTONOMOUS DRIVING RESEARCH IN OFF-ROAD SCENARIOS

  • LUCAS A. C. DE O. NOGUEIRA Universidade Estadual de Campinas - FEM/UNICAMP
  • MAURO F KOYAMA Centro de Tecnologia da Informação Renato Archer
  • RAFAEL DE A. CORDEIRO Instituto Superior Técnico
  • ALEXANDRE M. RIBEIRO Universidade Estadual de Campinas - FEM/UNICAMP
  • SAMUEL S. BUENO Centro de Tecnologia da Informação Renato Archer
  • ELY C. DE PAIVA Universidade Estadual de Campinas - FEM/UNICAMP
Keywords: Autonomous navigation, Outdoor robotics

Abstract

This article presents a miniaturized four-wheel robotic vehicle for autonomous driving research. It
enables experiments in situations where testing with full-size vehicles becomes dangerous or troublesome. The article describes the physical structure of the vehicle, its actuators and sensing capabilities and the ROS-based software architecture. The vehicle will serve as a platform for future research in the areas of Perception, Planning and Control, particularly for off-road scenario. Validation results are presented which demonstrate that the vehicle is ready to be used in further research applications.

Published
2020-10-21
Section
Articles