Integrated software architecture in ATLASCAR2

• Autor(a) principal: Pombinho, Sara Costa
• Data de Publicação: 2022
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10773/34924
• topic: Odometry; ROS architecture; Atlascar2; Electronic control units; CAN; Ackermann model

The organization of an autonomous vehicle computational system is crucial for a better implementation of algorithms in the area of autonomous navigation. The first objective of this dissertation consists of organizing and updating the Atlascar2 software architecture. This organization covers updating and adding the sensor’s launch files, updating drivers, improving the processing unit and updating the communication infrastructure. Another objective is the development of an odometry solution, to be integrated into the new Atlascar2 software architecture. It used the vehicle’s CAN bus as a means of transmitting and receiving the necessary data, such as the angle of the car’s wheels and its speed. To measure the speed, an incremental encoder was installed on the Atlascar2 rear left wheel, while the angle values are provided by the CAN. The results show improvements in the software architecture and in the performance obtained by the odometry system, in simulation and real. In real mode, the results indicate the need to calibrate the odometry, which, when elaborated in a future work, will bring improvements to the Atlascar2 navigation system.