CaRINA Intelligent Robotic Car: Architectural design and applications

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• 作者：Leandro C. Fernandes ^{lnd@icmc.usp.br" class="auth_mail}Author Vitae ; Jefferson R. Souza ^{jrsouza@icmc.usp.br" class="auth_mail}Author Vitae ; Gustavo Pessin ^{pessin@icmc.usp.br" class="auth_mail}Author Vitae ; Patrick Y. Shinzato ^{shinzato@icmc.usp.br" class="auth_mail}Author Vitae ; Daniel Sales ^{dsales@icmc.usp.br" class="auth_mail}Author Vitae ; Caio MendesAuthor Vitae ; Marcos Prado ^{mgprado@icmc.usp.br" class="auth_mail}Author Vitae ; Rafael Klaser ^{rlklaser@icmc.usp.br" class="auth_mail}Author Vitae ; André ; Chaves Magalhã ; es ^{acmagalhaes@sc.usp.br" class="auth_mail}Author Vitae ; Alberto Hata ^{hata@icmc.usp.br" class="auth_mail}Author Vitae ; Daniel Pigatto ^{pigatto@icmc.usp.br" class="auth_mail}Author Vitae ; Kalinka Castelo Branco ^{kalinka@icmc.usp.br" class="auth_mail}Author Vitae ; Valdir Grassi Jr. ^{vgrassi@sc.usp.br" class="auth_mail}Author Vitae ; Fernando S. Osorio ^{fosorio@icmc.usp.br" class="auth_mail}Author Vitae ; Denis F. Wolf ; ^{denis@icmc.usp.br" class="auth_mail}Author Vitae
• 关键词：Autonomous vehicle architecture ; Embedded system design ; Robotic vehicle navigation ; Computer vision ; Machine learning ; Intelligent systems
• 刊名：Journal of Systems Architecture
• 出版年：April, 2014
• 年：2014
• 卷：60
• 期：4
• 页码：372-392
• 全文大小：6537 K

文摘

This paper presents the development of two outdoor intelligent vehicles platforms named CaRINA I and CaRINA II, their system architecture, simulation tools, and control modules. It also describes the development of the intelligent control system modules allowing the mobile robots and vehicles to navigate autonomously in controlled urban environments. Research work has been carried out on tele-operation, driver assistance systems, and autonomous navigation using the vehicles as platforms to experiments and validation. Our robotic platforms include mechanical adaptations and the development of an embedded software architecture. This paper addresses the design, sensing, decision making, and acting infrastructure and several experimental tests that have been carried out to evaluate both platforms and proposed algorithms. The main contributions of this work is the proposed architecture, that is modular and flexible, allowing it to be instantiated into different robotic platforms and applications. The communication and security aspects are also investigated.