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Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education ?

机译：用于研究和教育实验的网络和自主模型 - 规模车辆 ？

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This paper presents the μCar, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and obtains its pose via WLAN from an indoor positioning system. The two supported operating modes for controlling the vehicle are (1) computing control inputs on external hardware, transmitting them via WLAN and applying received inputs to the actuators and (2) transmitting a reference trajectory via WLAN, which is then followed by a controller running on the onboard Raspberry Pi Zero W. The design allows identical vehicles to be used at the same time in order to conduct experiments with a large amount of networked agents.
机译：本文介绍了一个1:18模型尺度车辆，具有Ackermann转向几何，为研究和教育中的网络和自主驾驶的实验开发。该车辆是开源的，适度耗费且高度灵活，允许许多应用。它配备有惯性测量单元和10尺，通过来自室内定位系统的WLAN获得其姿势。用于控制车辆的两个支持的操作模式是（1）计算外部硬件上的控制输入，经由WLAN发送它们并将接收的输入应用于致动器和（2）通过WLAN发送参考轨迹，然后将其后的控制器运行在船上覆盆子PI零W.该设计允许同时使用相同的车辆以进行大量网络化代理的实验。

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