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A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving
RISE - Research Institutes of Sweden, Safety and Transport, Electronics.ORCID iD: 0000-0003-1713-3726
RISE - Research Institutes of Sweden, Safety and Transport, Electronics.ORCID iD: 0000-0002-6191-6253
Halmstad University, Sweden.
2018 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, article id 4907536Article in journal (Refereed) Published
Abstract [en]

Accurate positioning is a requirement for many applications, including safety-critical autonomous vehicles. To reduce cost and at the same time improving accuracy for positioning of autonomous vehicles, new methods, tools, and research platforms are needed. We have created a low-cost testbed consisting of electronics and software that can be fitted on model vehicles allowing them to follow trajectories autonomously with a position accuracy of around 3 cm outdoors. The position of the vehicles is derived from sensor fusion between Real-Time Kinematic Satellite Navigation (RTK-SN), odometry, and inertial measurement and performs well within a 10 km radius from a base station. Trajectories to be followed can be edited with a custom GUI, where also several model vehicles can be controlled and visualized in real time. All software and Printed Circuit Boards (PCBs) for our testbed are available as open source to make customization and development possible. Our testbed can be used for research within autonomous driving, for carrying test equipment, and other applications where low cost and accurate positioning and navigation are required.

Place, publisher, year, edition, pages
2018. article id 4907536
Keywords [en]
Costs, Equipment testing, Open source software, Open systems, Safety engineering, Testbeds, Vehicles, Autonomous driving, Autonomous Vehicles, Inertial measurements, Position accuracy, Printed circuit board (PCBs), Real time kinematic, Research platforms, Satellite navigation, Printed circuit boards
National Category
Natural Sciences
Identifiers
URN: urn:nbn:se:ri:diva-36676DOI: 10.1155/2018/4907536Scopus ID: 2-s2.0-85058336224OAI: oai:DiVA.org:ri-36676DiVA, id: diva2:1273549
Note

 Funding details: Fellowships Fund Incorporated; Funding details: VINNOVA; Funding details: Knowledge Foundation;

Available from: 2018-12-21 Created: 2018-12-21 Last updated: 2020-01-29Bibliographically approved

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Vedder, BenjaminVinter, Jonny

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