Abstract
In the Intelligent Transportation Systems Society (ITSS), the research interest on intelligent vehicles is increasing during the last few years. Accordingly, this paper presents the advances in the development of the ROS-based (Robot Operating System) software architecture for intelligent vehicles. The main contribution of the architecture is its powerfulness, flexibility, and modularity, which allows the researchers to develop and test different algorithms. The architecture has been tested on different platforms, autonomous ground vehicles from the iCab (Intelligent Campus Automobile) project and in the intelligent vehicle based on Advanced Driver Assistance Systems (ADAS) incorporated from IvvI 2.0 (Intelligent Vehicle based on Visual Information) project.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Gonzlez, D., Prez, J., Lattarulo, R., Milans, V., Nashashibi, F.: Continuous curvature planning with obstacle avoidance capabilities in urban scenarios. In: IEEE 17th International Conference on Intelligent Transportation Systems (ITSC), 2014, pp. 1430–1435. IEEE (2014)
Hernandez, N., Ocaa, M., Alonso, J.M., Kim, E.: Continuous space estimation: Increasing wifi-based indoor localization resolution without increasing the site-survey effort. Sensors 17(147), 1–23 (2017)
Hussein, A., Mostafa, H., Badreldin, M., Sultan, O., Khamis, A.: Metaheuristic optimization approach to mobile robot path planning, pp. 1–6 (2012)
Hussein, A., Garcia, F., Armingol, J.M., Olaverri-Monreal, C.: P2v and v2p communication for pedestrian warning on the basis of autonomous vehicles. In: IEEE International Conference on Intelligent Transportation Systems (ITSC), pp. 2034–2039 (2016)
Hussein, A., Marin-Plaza, P., Garcia, F., Armingol, J.M.: Optimization-based approach for cooperation and coordination of multi-autonomous vehicles. In: Sixteenth International Conference on Computer Aided Systems Theory (EUROCAST), pp. 1–2 (2017)
Hussein, A., Marin-Plaza, P., Martin, D., de la Escalera, A., Armingol, J.M.: Autonomous off-road navigation using stereo-vision and laser-rangefinder fusion for outdoor obstacles detection. In: IEEE Intelligent Vehicles Symposium (IV), pp. 104–109 (2016)
Kokuti, A., Hussein, A., Marin-Plaza, P., Garcia, F.: V2x communications architecture for off-road autonomous vehicles (icab). In: Proceedings of IEEE International Conference on Vehicular Electronics and Safety (ICVES) (2017)
Marin-Plaza, P., Beltran, J., Hussein, A., Musleh, B., Martin, D., de la Escalera, A., Armingol, J.M.: Stereo vision-based local occupancy grid map for autonomous navigation in ros. In: Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP), vol. 3, pp. 703–708 (2016)
Martin, D., Garcia, F., Musleh, B., Olmeda, D., Pelez, G., Marn, P., Ponz, A., Rodrguez, C., Al-Kaff, A., de la Escalera, A., Armingol, J.M.: Ivvi 2.0: an intelligent vehicle based on computational perception. Expert Syst. Appl. 41(17), 7927–7944 (2014)
Musleh, B., Martin, D., de la Escalera, A., Armingol, J.M.: Visual ego motion estimation in urban environments based on uv disparity. In: Intelligent Vehicles Symposium (IV), 2012 IEEE, pp. 444–449. IEEE (2012)
Rsmann, C., Feiten, W., Wsch, T., Hoffmann, F., Bertram, T.: Trajectory modification considering dynamic constraints of autonomous robots. In: 7th German Conference on Robotics, Proceedings of ROBOTIK 2012, pp. 1–6. VDE (2012)
Zhang, J., Singh, S.: Loam: lidar odometry and mapping in real-time. In: Robotics: Science and Systems, vol. 2 (2014)
Acnowledgement
This research is supported by Madrid Community project SEGVAUTO-TRIES (S2013-MIT-2713) and by the Spanish Government CICYT projects (TRA2013-48314-C3-1-R, TRA2015-63708-R and TRA2016-78886-C3-1-R).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Marin-Plaza, P., Hussein, A., Martin, D., de la Escalera, A. (2018). Complete ROS-based Architecture for Intelligent Vehicles. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_41
Download citation
DOI: https://doi.org/10.1007/978-3-319-70836-2_41
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70835-5
Online ISBN: 978-3-319-70836-2
eBook Packages: EngineeringEngineering (R0)