Deakin University
Browse

File(s) not publicly available

Low-cost heterogeneous unmanned ground vehicle (UGV) testbed for systems of autonomous vehicles research

conference contribution
posted on 2023-02-28, 02:38 authored by A Jaimes, J Gonzalez, A Ibarra, P Benavidez, M Jamshidi
Ahstract-This paper presents design of a mobile testbed of scale-sized UGVs designed for multi-agent autonomous vehicle missions. Small scale autonomous vehicles are used as a means for validating larger scale systems in a low-cost manner. This system is unique in how vehicle trajectories are managed using a mobile relative localization provider available to the system, which can be thought of as a mobile version of a Vicon or Optitrack system. A multi-agent mapping scenario is provided as an initial test of the testbed system. In the scenario, each vehicle in the testbed has roles in accurately mapping objects within an environment. Robots and data are managed with the Robot Operating System (ROS), which provides access to visualizations through Robot Visualization (RVIZ).

History

Pagination

242 - 247

ISBN-13

9781728104577

Title of proceedings

2019 14th Annual Conference System of Systems Engineering, SoSE 2019

Usage metrics

    Research Publications

    Categories

    No categories selected

    Keywords

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC