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

^*Autor correspondiente de este trabajo

Instituto de Tecnologías Físicas y de la Información (CSIC)

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

22 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOI	https://doi.org/10.1109/ICMECH.2009.4957197
Estado	Publicada - 2009
Publicado de forma externa	Sí
Evento	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Espana Duración: 14 abr 2009 → 17 abr 2009

Serie de la publicación

Nombre	IEEE 2009 International Conference on Mechatronics, ICM 2009

Conferencia

Conferencia	IEEE 2009 International Conference on Mechatronics, ICM 2009
País/Territorio	Espana
Ciudad	Malaga
Período	14/04/09 → 17/04/09

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10.1109/ICMECH.2009.4957197

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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. En IEEE 2009 International Conference on Mechatronics, ICM 2009 Artículo 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. En 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, Espana, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AU - Perez, Joshue

AU - Gonzalez, Carlos

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

UR - https://www.scopus.com/pages/publications/67650308470

U2 - 10.1109/ICMECH.2009.4957197

DO - 10.1109/ICMECH.2009.4957197

M3 - Conference contribution

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SN - 9781424441952

T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009

BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

Y2 - 14 April 2009 through 17 April 2009

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. En 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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