论文标题
低成本的小型可重新配置的自动驾驶汽车，用于研究，测试和教学指导，控制和定位系统
A low cost small reconfigurable autonomous vehicle for research, testing and teaching of guidance, control and positioning systems
论文作者
论文摘要
我们提出了一辆小型的自动驾驶汽车，目的是协助教师和研究人员轻松地部署不同的方法来指导，控制和定位系统，而无需麻烦以开发此类努力所需的整个模块。该设计主要是指实现很小的成本，以及使用的零件的易于访问性。使用低成本零件的主要问题之一是难以对其动态进行建模，这主要是因为它们缺乏适当的文档，也是因为由于用法引起的退化，其特征的时间变化。同时，对车辆物理设计的任何更改都必须反映在数学模型中。我们开发了一种方法来轻松重新配置车辆，能够获得系统的详细动态数学模型，以及实现随机方法（例如Kalman滤波）时所需的统计模型。提供了指导，控制和定位系统的基线示例实现。孔系统是自主和独立的，并在低成本的嵌入式系统中进行了测试。
We present a small autonomous vehicle, with the purpose of aiding teachers and researchers to easily deploy different approaches to guidance, control and positioning systems, without the hassle to develop the entire modules required for such endeavor. The design was mainly guided to accomplish a very small cost, along with easy accessibility of the parts used. One of the main problems of using low cost parts is the difficulty of modeling its dynamics, mainly because they lack proper documentation and also because the time varying nature of its characteristics, due to degradation caused by usage. At the same time, any change made to the physical design of the vehicle must be reflected in the mathematical model. We develop a methodology for easy reconfiguration of the vehicle, being able to obtain detailed dynamic mathematical models of the system, as well as a the statistical models needed when implementing stochastic methods such as Kalman Filtering. Baseline example implementations of guidance, control and positioning systems are provided. The hole system is autonomous and self-contained and was tested in a low cost embedded system.
