A Proposed Software Framework Aimed at Energy-Efficient Autonomous Driving of Electric Vehicles

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• 作者：Jos茅-Luis Torres Moreno (23) r> Jos茅-Luis Blanco Claraco (23) r> Mauro Bellone (24) r> Francisco Rodr矛guez (25) r> Antonio Gim猫nez (23) r> Giulio Reina (24) r>
• 关键词：Autonomous vehicles ; Mobile robotics ; Software architecture
• 刊名：Lecture Notes in Computer Science
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：8810
• 期：1
• 页码：219-230
• 全文大小：1,292 KB
• 参考文献：1. Thrun, S., et al.: Stanley: The Robot That Won the DARPA Grand Challenge. In: Buehler, M., Iagnemma, K., Singh, S. (eds.) DARPA 2005. STAR, vol.聽36, pp. 1鈥?3. Springer, Heidelberg (2007) rnal" href="http://dx.doi.org/10.1007/978-3-540-73429-1_1" target="_blank" title="It opens in new window">CrossRef r> 2. Leonard, J., How, J., Teller, S., Berger, M., Campbell, S., Fiore, G., Fletcher, L., Frazzoli, E., Huang, A., Karaman, S., et al.: The darpa urban challenge (2009) r> 3. Urmson, C., Bagnell, J.A., Baker, C.R., Hebert, M., Kelly, A., Rajkumar, R., Rybski, P.E., Scherer, S., Simmons, R., Singh, S., et聽al.: Tartan racing: A multi-modal approach to the darpa urban challenge. Technical Report 967, Robotics Institute (2007) r> 4. Bertozzi, M., Broggi, A., Cardarelli, E., Fedriga, R.I., Mazzei, L., Porta, P.P.: VIAC Expedition Toward Autonomous Mobility. Robotics and Automation Magazine聽18(3), 120鈥?24 (2011) ISSN: 1070-9932 r> 5. Broggi, A., Medici, P., Zani, P., Coati, A., Panciroli, M.: Autonomous vehicles control in the VisLab Intercontinental Autonomous Challenge. Annual Reviews in Control 36(1), 161鈥?71 (2012) ISSN: 1367-5788 r> 6. Broggi, A., Buzzoni, M., Felisa, M., Zani, P.: Stereo obstacle detection in challenging environments: the VIAC experience. In: Procs.聽IEEE/RSJ Intl.聽Conf.聽on Intelligent Robots and Systems, San Francisco, California, USA, pp. 1599鈥?604 (September 2011) r> 7. Huang, A., Olson, E., Moore, D.: LCM: Lightweight communications and marshalling. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (October 2010) r> 8. Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009) r> 9. MAPIR lab (University of M谩laga), ARM group (University of Almer铆a): Open Mobile Robot Arquitecture (OpenMORA) (June 2014), ref="http://sourceforge.net/projects/openmora" class="a-plus-plus"> ry-non-proportional">http://sourceforge.net/projects/openmora r> 10. Newman, P.M.: MOOS-mission orientated operating suite. Technical Report 2299, Massachusetts Institute of Technology (2008) r> 11. Blanco, J.L., et al.: Mobile Robot Programming Toolkit (MRPT), ref="http://www.mrpt.org/" class="a-plus-plus"> ry-non-proportional">http://www.mrpt.org/ r> 12. Blanco, J.L., Gonz谩lez, J., Fern谩ndez-Madrigal, J.A.: Optimal filtering for non-parametric observation models: applications to localization and slam. The International Journal of Robotics Research聽29(14), 1726鈥?742 (2010) rnal" href="http://dx.doi.org/10.1177/0278364910364165" target="_blank" title="It opens in new window">CrossRef r> 13. Blanco, J.L., Gonz谩lez-Jim茅nez, J., Fern谩ndez-Madrigal, J.A.: Extending obstacle avoidance methods through multiple parameter-space transformations. Autonomous Robots 24(1) (2008) r>
• 作者单位：Jos茅-Luis Torres Moreno (23) r> Jos茅-Luis Blanco Claraco (23) r> Mauro Bellone (24) r> Francisco Rodr矛guez (25) r> Antonio Gim猫nez (23) r> Giulio Reina (24) r>r>23. Dept. of Engineering, Universidad of Almer铆a, 04120, Almer铆a, Spain r> 24. Dept. of Engineering for Innovation, Universit谩 del Salento, 73100, Lecce, Italy r> 25. Dept. of Computer Sciences, Universidad of Almer铆a, 04120, Almer铆a, Spain r>
• ISSN：1611-3349

文摘

This paper describes the development of an electric car prototype, aimed at autonomous, energy-efficient driving. Starting with an urban electric car, we describe the mechanical and mechatronics add-ons required to automate its driving. In addition, a variety of exteroceptive and proprioceptive sensors have been installed in order to obtain accurate measurements for datasets aimed at characterizing dynamic models of the vehicle, including the complex problem of wheel-soil slippage. Current and voltage are also monitored at key points of the electric power circuits in order to obtain an accurate model of power consumption, with the goal of allowing predictive path planners to trace routes as a trade-off between path length and overall power consumption. In order to handle the required variety of sensors involved in the vehicle, a MOOS-based software architecture has been developed based on distributed nodes that communicate over an onboard local area network. We provide experimental results describing the current stage of development of this platform, where a number of datasets have been already grabbed successfully and initial work on dynamics modeling is being carried on.