Intelligent Robotic Car for Autonomous Navigation: Platform and System Architecture

Author

Fernandes, Leandro C. ; Souza, Jefferson R. ; Shinzato, Patrick Y. ; Pessin, Gustavo ; Mendes, Caio C T ; Osório, Fernando S. ; Wolf, Denis F.

Author_Institution

Mobile Robot. Lab. (LRM), Univ. of Sao Paulo (USP), Sao Carlos, Brazil

fYear

2012

fDate

20-25 May 2012

Firstpage

12

Lastpage

17

Abstract

This paper presents the platform and system architecture of an intelligent vehicle, presenting the control system modules allowing the vehicle to navigate autonomously. Our research group has been developed works on autonomous navigation and driver assistance systems, using CaRINA I platform to experiments and validation. Our platform includes mechanical vehicle adaptations and the development of an embedded software architecture, and its practical implementation. This paper addresses in details the sensing and acting infrastructure. Several experimental tests have been carried out to evaluate both platform and proposed algorithms.

Keywords

automated highways; automobiles; driver information systems; embedded systems; intelligent robots; path planning; software architecture; CaRINA I platform; acting infrastructure; autonomous vehicle navigation; control system module; driver assistance system; embedded software architecture; intelligent robotic car; intelligent vehicle; mechanical vehicle adaptation; sensing infrastructure; system architecture; Control systems; Mobile robots; Navigation; Roads; Sensors; Vehicles; Autonomous vehicle; driving assistance; robot platform and software architecture; urban environments;

fLanguage

English

Publisher

ieee

Conference_Titel

Critical Embedded Systems (CBSEC), 2012 Second Brazilian Conference on

Conference_Location

Campinas

Print_ISBN

978-1-4673-1912-6

Type

conf

DOI

10.1109/CBSEC.2012.26

Filename

6227645