Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars

Joshue Perez; Carlos Gonzalez; Vicente Milanes; Enrique Onieva; Jorge Godoy; Teresa De Pedro

doi:10.1109/ICMECH.2009.4957197

Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars

Joshue Perez^*
, Carlos Gonzalez
, Vicente Milanes
, Enrique Onieva
, Jorge Godoy
, Teresa De Pedro

^*Corresponding author for this work

Instituto de Tecnologías Físicas y de la Información (CSIC)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

22 Citations (Scopus)

Abstract

Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet ... ).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance ofthe new system.

Original language	English
Title of host publication	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs	https://doi.org/10.1109/ICMECH.2009.4957197
Publication status	Published - 2009
Externally published	Yes
Event	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain Duration: 14 Apr 2009 → 17 Apr 2009

Publication series

Name	IEEE 2009 International Conference on Mechatronics, ICM 2009

Conference

Conference	IEEE 2009 International Conference on Mechatronics, ICM 2009
Country/Territory	Spain
City	Malaga
Period	14/04/09 → 17/04/09

Keywords

Actuator controller
Auto motion
Autonomous vehicle
Global positioning
Modularity system

Access to Document

10.1109/ICMECH.2009.4957197

Cite this

Perez, J., Gonzalez, C., Milanes, V., Onieva, E., Godoy, J., & De Pedro, T. (2009). Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars. In IEEE 2009 International Conference on Mechatronics, ICM 2009 Article 4957197 (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957197

@inproceedings{36411032cf484a4b8c2b7bd68b9bdc0c,

title = "Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars",

abstract = "Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet ... ).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance ofthe new system.",

keywords = "Actuator controller, Auto motion, Autonomous vehicle, Global positioning, Modularity system",

author = "Joshue Perez and Carlos Gonzalez and Vicente Milanes and Enrique Onieva and Jorge Godoy and \{De Pedro\}, Teresa",

year = "2009",

doi = "10.1109/ICMECH.2009.4957197",

language = "English",

isbn = "9781424441952",

series = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

note = "IEEE 2009 International Conference on Mechatronics, ICM 2009 ; Conference date: 14-04-2009 Through 17-04-2009",

}

Perez, J, Gonzalez, C, Milanes, V, Onieva, E, Godoy, J & De Pedro, T 2009, Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars. in IEEE 2009 International Conference on Mechatronics, ICM 2009., 4957197, IEEE 2009 International Conference on Mechatronics, ICM 2009, IEEE 2009 International Conference on Mechatronics, ICM 2009, Malaga, Spain, 14/04/09. https://doi.org/10.1109/ICMECH.2009.4957197

Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars. / Perez, Joshue; Gonzalez, Carlos; Milanes, Vicente et al.
IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957197 (IEEE 2009 International Conference on Mechatronics, ICM 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Milanes, Vicente

AU - Onieva, Enrique

AU - Godoy, Jorge

AU - De Pedro, Teresa

PY - 2009

Y1 - 2009

N2 - Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet ... ).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance ofthe new system.

AB - Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet ... ).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance ofthe new system.

KW - Actuator controller

KW - Auto motion

KW - Autonomous vehicle

KW - Global positioning

KW - Modularity system

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U2 - 10.1109/ICMECH.2009.4957197

DO - 10.1109/ICMECH.2009.4957197

M3 - Conference contribution

AN - SCOPUS:67650308470

SN - 9781424441952

T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009

BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

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ER -

Perez J, Gonzalez C, Milanes V, Onieva E, Godoy J, De Pedro T. Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars. In IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957197. (IEEE 2009 International Conference on Mechatronics, ICM 2009). doi: 10.1109/ICMECH.2009.4957197

Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles: Updating mechatronics of automatic cars

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