Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge
Perception and vehicle control remain major challenges in the autonomous driving domain. To find a proper system configuration, thorough testing is needed. Recent advances in graphics and physics simulation allow researchers to build highly realistic simulations that can be used for testing in safet...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/21/8493 |
| _version_ | 1797466447394373632 |
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| author | Łukasz Sobczak Katarzyna Filus Joanna Domańska Adam Domański |
| author_facet | Łukasz Sobczak Katarzyna Filus Joanna Domańska Adam Domański |
| author_sort | Łukasz Sobczak |
| collection | DOAJ |
| description | Perception and vehicle control remain major challenges in the autonomous driving domain. To find a proper system configuration, thorough testing is needed. Recent advances in graphics and physics simulation allow researchers to build highly realistic simulations that can be used for testing in safety-critical domains and inaccessible environments. Despite the high complexity of urban environments, it is the non-urban areas that are more challenging. Nevertheless, the existing simulators focus mainly on urban driving. Therefore, in this work, we describe our approach to building a flexible real-time testing platform for unmanned ground vehicles for indoor and off-road environments. Our platform consists of our original simulator, robotic operating system (ROS), and a bridge between them. To enable compatibility and real-time communication with ROS, we generate data interchangeable with real-life readings and propose our original communication solution, UDP Bridge, that enables up to 9.5 times faster communication than the existing solution, ROS#. As a result, all of the autonomy algorithms can be run in real-time directly in ROS, which is how we obtained our experimental results. We provide detailed descriptions of the components used to build our integrated platform. |
| first_indexed | 2024-03-09T18:40:01Z |
| format | Article |
| id | doaj.art-5248b5f310a243cc85fc381658e1297c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T18:40:01Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5248b5f310a243cc85fc381658e1297c2023-11-24T06:48:57ZengMDPI AGSensors1424-82202022-11-012221849310.3390/s22218493Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP BridgeŁukasz Sobczak0Katarzyna Filus1Joanna Domańska2Adam Domański3Institute of Theoretical and Applied Informatics, Polish Academy of Sciences, Bałtycka 5, 44-100 Gliwice, PolandInstitute of Theoretical and Applied Informatics, Polish Academy of Sciences, Bałtycka 5, 44-100 Gliwice, PolandInstitute of Theoretical and Applied Informatics, Polish Academy of Sciences, Bałtycka 5, 44-100 Gliwice, PolandDepartment of Distributed Systems and Informatic Devices, Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, PolandPerception and vehicle control remain major challenges in the autonomous driving domain. To find a proper system configuration, thorough testing is needed. Recent advances in graphics and physics simulation allow researchers to build highly realistic simulations that can be used for testing in safety-critical domains and inaccessible environments. Despite the high complexity of urban environments, it is the non-urban areas that are more challenging. Nevertheless, the existing simulators focus mainly on urban driving. Therefore, in this work, we describe our approach to building a flexible real-time testing platform for unmanned ground vehicles for indoor and off-road environments. Our platform consists of our original simulator, robotic operating system (ROS), and a bridge between them. To enable compatibility and real-time communication with ROS, we generate data interchangeable with real-life readings and propose our original communication solution, UDP Bridge, that enables up to 9.5 times faster communication than the existing solution, ROS#. As a result, all of the autonomy algorithms can be run in real-time directly in ROS, which is how we obtained our experimental results. We provide detailed descriptions of the components used to build our integrated platform.https://www.mdpi.com/1424-8220/22/21/8493SLAMautonomous drivingAGVsimulationUDPGoogle Cartographer |
| spellingShingle | Łukasz Sobczak Katarzyna Filus Joanna Domańska Adam Domański Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge Sensors SLAM autonomous driving AGV simulation UDP Google Cartographer |
| title | Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge |
| title_full | Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge |
| title_fullStr | Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge |
| title_full_unstemmed | Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge |
| title_short | Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge |
| title_sort | building a real time testing platform for unmanned ground vehicles with udp bridge |
| topic | SLAM autonomous driving AGV simulation UDP Google Cartographer |
| url | https://www.mdpi.com/1424-8220/22/21/8493 |
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