Design principles of control systems for self-driving unmanned ground vehicles

Design principles of control systems for self-driving unmanned ground vehicles

Alexander A. Tachkov
PhD in Technical Sciences, Federal State Budgetary Educational Institution of Higher Education «Bauman Moscow State Technical University» (BMSTU), Science and Educational Center «Robotics», Department «Automated transport systems», Head of Department, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-8330-8750

Alexey V. Kozov
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-9997-0386

Dmitriy S. Iakovlev
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6999-407X

Nikita A. Buzlov
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Engineer, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-0723-6812

Semion Yu. Kurochkin
BMSTU, Science and Educational Center «Robotics», Department «Automated transport systems», Junior Research Scientist, 7, Izmaylovskaya pl., Moscow, 105037, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-8659-7191

Received September 30, 2021.

Abstract
The self-driving unmanned ground vehicles (UGV) design problem is analyzed in this paper. Two methodological problems of UGV design are formulated. The first problem is the difference between the purpose of creating a self-driving automobile from UGV, which leads to fundamentally different systemic solutions. The second methodological problem is associated with the need for sufficiently deep knowledge and the ability to work with a number of technologies that are used in the complex to create a control system for self-driving. The joint analysis of these problems allowed us to put forward a number of control systems design principles for self-driving UGV, including the principle of upcycling, the principle of using a discrete-event model for the logical synchronization of the operation of modules and the principle of ensuring the functional safety of the UGV during autonomous movement. The principle of using the discrete-event model for synchronizing the operation of software modules is explained by the example of a Petri net. A general solution to the problem of quantitative evaluation of the safety of autonomous movement of UGV is presented. The considered principles were used during development of prototypes of self-driving control systems for various purposes.

Key words
Control system for self-driving, unmanned ground vehicle, design principles, navigation, modular construction, ROS.

DOI
10.31776/RTCJ.10205

Bibliographic description
Tachkov, A. et al., 2022. Design principles of control systems for self-driving unmanned ground vehicles. Robotics and Technical Cybernetics, 10(2), pp.121-132.

UDC identifier:
681.51:629.3:007.52

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