论文标题
用于研究和教育实验的网络和自主模型尺度车辆
Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education
论文作者
论文摘要
本文介绍了$ \Mathrmμ$ CAR，这是一种1:18的型号尺度车辆，其Ackermann转向几何形状用于研究和教育中的网络和自动驾驶实验。该车辆是开源的，价格适中且高度灵活，可以进行许多应用。它配备了惯性测量单元和里程表，并通过室内定位系统通过WLAN获得姿势。控制车辆的两个支持的操作模式是（1）计算外部硬件的计算控制输入，通过WLAN传输它们，并将接收的输入应用于执行器以及（（2）通过WLAN传输参考轨迹，然后将其跟随该轨迹，然后在板上的Raspberry Pi Zero weles上运行的范围内的控制器，该网络允许使用大量的车辆，以便在相同的范围内进行实验，以实现相同的行为，以进行相同的操作，以进行相同的行为，以进行相同的操作。
This paper presents the $\mathrmμ$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and obtains its pose via WLAN from an indoor positioning system. The two supported operating modes for controlling the vehicle are (1) computing control inputs on external hardware, transmitting them via WLAN and applying received inputs to the actuators and (2) transmitting a reference trajectory via WLAN, which is then followed by a controller running on the onboard Raspberry Pi Zero W. The design allows identical vehicles to be used at the same time in order to conduct experiments with a large amount of networked agents.
