An Open Platform for R&D in Outdoor Ground Robotics

Luiz G. B. MirisolaHelio AzevedoJosue J. G. Ramos

This article presents an outdoor land robotic platform, composed by a vehicle developed in Brazil and the associated robotic infrastructure. The all-terrain vehicle has two rear wheels driven by two independent electric motors and Ackerman steering front wheels (Fig.1(a)). The robotic infrastructure includes embedded computers and sensor suite, a base station and wired and wireless communication systems. The software is based on a modern robotics framework based on distributed components, and its performance and usability is evaluated, with two initial experiments used as case studies. The authors expect this platform can compose an open laboratory for outdoor robotics, being used by researchers from other institutions, resulting in synergy and cooperation.

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