Design and implementation of a Node.js based communication framework for an unmanned autonomous ground vehicle

摘要

This paper describes the methodology used to develop a communication platform that enhances interoperability between different types of components irrespective of the manufacturers and of the software platform. This framework is intended to be used on a distributed system where software and hardware modules are designed to control an autonomous Unmanned Ground Vehicle (UGV). A messaging architecture based on the Joint Architecture for Unmanned Systems (JAUS) was developed in Node.js to ensure platform independence. It was deployed on hardware platforms such as the Raspberry Pi and the BeagleBone Black in order to access various sensors on the platform and control hardware like stepper motor. This messaging architecture can also be implemented on conventional laptops running Windows operating system or Linux that run algorithms for localisation, terrain mapping and path planning. Initially regarded as a very limited language, JavaScript's true nature and power have only recently been appreciated in depth, A major move is now underway to apply this language in new and fascinating contexts. The ultimate goal of the framework was to structure communication and inter-operation of UGV components and a sensor suite within a network. The framework was implemented on the G-Bat, a UGV platform developed at CSIR DPSS Landward Sciences to test and simulate the communication part of an autonomous navigation system. The test was a successful step that paves the way for a more robust implementation of the framework in the future work.