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

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.