Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles

Author

Pérez, Joshué ; González, Carlos ; Milanés, Vicente ; Onieva, Enrique ; Godoy, Jorge ; De Pedro, Teresa

Author_Institution

Inst. de Autom. Ind., Madrid

fYear

2009

fDate

14-17 April 2009

Firstpage

1

Lastpage

5

Abstract

Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet...). The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance of the new system.

Keywords

Global Positioning System; actuators; controller area networks; fuzzy control; mobile robots; road vehicles; AUTOPIA architecture adaptability; AUTOPIA architecture evolution; AUTOPIA architecture modularity; CAN connected controller; Ethernet; GPS; ISA controller card; actuator controller; autonomous vehicle control; computer system; fuzzy logic control; peripheral device; Actuators; Communication standards; Communication system control; Computer architecture; Control systems; Ethernet networks; Joining processes; Mobile robots; Remotely operated vehicles; Universal Serial Bus; Autonomous vehicle; actuator controller; auto motion; global positioning; modularity system;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Conference_Location

Malaga

Print_ISBN

978-1-4244-4194-5

Electronic_ISBN

978-1-4244-4195-2

Type

conf

DOI

10.1109/ICMECH.2009.4957197

Filename

4957197