CaRINA Intelligent Robotic Car: Architectural design and applications

Author(s):Show less -

Fernandes, Leandro C. ^[1] ; Souza, Jefferson R. ^[1] ; Pessin, Gustavo ^[1] ; Shinzato, Patrick Y. ^[1] ; Sales, Daniel ^[1] ; Mendes, Caio ^[1] ; Prado, Marcos ^[1] ; Klaser, Rafael ^[1] ; Magalhaes, Andre Chaves ^[1] ; Hata, Alberto ^[1] ; Pigatto, Daniel ^[1] ; Branco, Kalinka Castelo ^[1] ; Grassi, Jr., Valdir ^[1] ; Osorio, Fernando S. ^[1] ; Wolf, Denis F. ^[1]

Affiliation

^[1] Univ Sao Paulo, Mobile Robot Lab, BR-13560970 Sao Carlos, SP - Brazil

• Document type: Journal article
• Source: JOURNAL OF SYSTEMS ARCHITECTURE; v. 60, n. 4, p. 372-392, APR 2014.
• Web of Science Citations: 33

Abstract

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. (C) 2014 Elsevier B.V. All rights reserved. (AU)

• FAPESP's process: 08/57870-9 - Critical Embedded Systems Institute
• Grantee: Jose Carlos Maldonado
• Support Opportunities: Research Projects - Thematic Grants