Development of Control System for International Autonomous Driving Competition Using Robot Operating System

Abstract

This paper introduces the autonomous vehicle VIROS, which was developed by Kookmin University to participate in the 2018 International Autonomous Vehicle Competition organized by the Korean Ministry of Trade, Industry and Energy(MTIE). The control software was developed based on Robot Operating System (ROS) to take advantage of its modular component design and compatibility with multiple operating systems. Multiple software components were developed to execute passenger pick-up missions operating in a real urban road environment in the presence of other autonomous vehicles. The control architecture is based on a finite state machine handling complicated decision-making problems that depend on many different events and traffic rules. The tracking performance of the developed control algorithm is verified with experimental data obtained from typical urban traffic situations, such as intersections and tunnels.