Puyuma: Linux-Based RTOS Experimental Platform for Constructing Self-driving Miniature Vehicles View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2018-11-02

AUTHORS

Shao-Hua Wang , Sheng-Wen Cheng , Ching-Chun Huang

ABSTRACT

A holistic design and cost-efficient platform to construct self-driving systems is presented with an emphasis on Linux-based software architectures for computer vision, control system, and inter-vehicle communication. Starting with an executable specification of autonomous car application, subsequent transformations are performed across different levels of abstraction until the final implementation is achieved. The software partitioning is facilitated through the integration of ROS and OpenCV in the same design environment, as well as closed-loop control algorithms and Linux in the run-time system. We built a rapid prototyping based on fundamentally open source technologies and hardware under 100 dollars USD, which allows developers to be explored and evaluated in realistic conditions efficiently. Using lane departure and the corresponding performance speedup, we show that our platform reduces the design time, while improving the verification efforts, with the aid of tweaked real-time executives. More... »

PAGES

985-994

References to SciGraph publications

  • 2017. Duckietown: An Innovative Way to Teach Autonomy in EDUCATIONAL ROBOTICS IN THE MAKERS ERA
  • 2015-02-04. Autonomous vehicles: No drivers required in NATURE
  • 2010. Comparison of Component Frameworks for Real-Time Embedded Systems in COMPONENT-BASED SOFTWARE ENGINEERING
  • Book

    TITLE

    Intelligent Computing

    ISBN

    978-3-030-01173-4
    978-3-030-01174-1

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-030-01174-1_75

    DOI

    http://dx.doi.org/10.1007/978-3-030-01174-1_75

    DIMENSIONS

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