ICC 25427
INSTITUTO DE INVESTIGACION EN CIENCIAS DE LA COMPUTACION
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Open-source embedded framework for Unmanned Ground Vehicle control using CIAA
Autor/es:
MATIAS NITSCHE; ADRIAN TEIJEIRO; PABLO DE CRISTÓFORIS; FACUNDO PESSACG; DIEGO MARTÍN
Lugar:
Buenos Aires
Reunión:
Conferencia; Conferencia y Simposio Argentino de Sistemas Embebidos (CASE/SASE); 2017
Institución organizadora:
ACSE (Asociación Civil para la Investigación, Promoción y Desarrollo de los Sistemas Electrónicos Embebidos)
Resumen:
In this paper a new open-source and open-hardwareframework for Unmanned Ground Vehicle (UGV) control isdescribed. The hardware is based on CIAA (ComputadoraIndustrial Abierta Argentina) and Arduino modules while thesoftware is based on NuttX real-time operating system (RTOS).For communication, the MAVlink protocol is used, also enablinginterfacing with ROS (Robot Operating System). The frameworkcan be employed for different style UGVs (differential drive,omnidirectional, skid steer) with different number of motorizedwheels. It is designed for low-cost and ease of integration andadoption. The proposed framework was employed as the controlsystem of a four-wheel skid-steer rover protoype developed bythe authors, which is also described as a part of this work.
