文章基本信息

标题：A Novel Design and Implementation of Autonomous Robotic Car Based on ROS in Indoor Scenario
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作者：Chunmei Liu ; Chengmin Zhou ; Wen Cao 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2020
卷号：9
期号：1
页码：19-33
DOI：10.3390/robotics9010019
出版社：MDPI Publishing
摘要：Pervasive deployment of autonomous vehicle all over the world is an undisputed trend in the future. Autonomous vehicle will inevitably play an essential role in decreasing traffic jams, reducing threats from driving while intoxicated (DWI), and assisting the handicapped to get around. At the same time, the new energy vehicles (NEV) especially the electromobile is gradually adopted by several governments like Germany, USA and China as compulsive transportation tools from the standpoint of environmental friendliness. Taking these two crucial trends into consideration, this article proposes a scheme of autonomous robotic car based on robot operation system (ROS) in electromobile-like car which can be easily transplanted to commercial electromobile. In this article, the design and implementation of robotic car are demonstrated in detail which involves overall architecture of functional modules, hardware design, obstacle avoidance, localization and mapping, land detection and tracking, velocity control and indoor navigation. All software modules and hardware are integrated in NVIDIA Jetson TX1 and TRAXXAS car.
关键词：autonomous car; obstacle avoidance; navigation; lane detection and tracking; SLAM autonomous car ; obstacle avoidance ; navigation ; lane detection and tracking ; SLAM