Intelligent Robotic Car for Autonomous Navigation: Platform and System Architecture

摘要

This paper presents the platform and system architecture of an intelligent vehicle, presenting the control system modules allowing the vehicle to navigate autonomously. Our research group has been developed works on autonomous navigation and driver assistance systems, using CaRINA I platform to experiments and validation. Our platform includes mechanical vehicle adaptations and the development of an embedded software architecture, and its practical implementation. This paper addresses in details the sensing and acting infrastructure. Several experimental tests have been carried out to evaluate both platform and proposed algorithms.