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Specifying Route Behaviors of Self-Driving Vehicles in ROS Using Lua Scripting Language with Web Interface | IEEE Conference Publication | IEEE Xplore

Specifying Route Behaviors of Self-Driving Vehicles in ROS Using Lua Scripting Language with Web Interface


Abstract:

Implementing software for a large-scale robotics research platform such as an autonomous vehicle requires a system that can quickly adapt to new environments, behaviors, ...Show More

Abstract:

Implementing software for a large-scale robotics research platform such as an autonomous vehicle requires a system that can quickly adapt to new environments, behaviors, capability requirements, and physical hardware. To solve this problem, the proposed system abstracts sets of low level control into “behaviors” defined using Lua scripts. Behaviors, made of single function definitions or complete modules, may arbitrarily read from the platform's input state and alter the platform's output state during runtime. Complexity is removed from the system by encapsulating lower level behaviors into simple function calls or variable state changes that higher level behaviors use to control the system. An additional benefit of the system is that the behaviors are made available through a web-based user interface which, if the platform supports it, may be accessed remotely and modified while the system is executing. The core system, implemented in ROS, is completely generic and can run on arbitrary platforms by implementing only a few standard interfaces. The design also prioritizes modularity so that hardware can be added or removed from the system quickly; it does not depend on any specific sensor hardware to run. The system was used by Lawrence Technological University's autonomous vehicle team to win the Intelligent Ground Vehicle Competition for three consecutive years. It has also been used on smaller robotics platforms for research projects and teaching.
Date of Conference: 31 July 2020 - 01 August 2020
Date Added to IEEE Xplore: 29 September 2020
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Conference Location: Chicago, IL, USA

References

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