An Open Source Framework Based Unmanned All-Terrain Vehicle(U-ATV) for Wild Patrol and Surveillance

摘要

Patrol and Surveillance could be dangerous and arduous in ecological environment protection. In this paper, we presents a new design of unmanned all-terrain vehicle (U-ATV) system based on open source framework. According to bottom-up design principles, this system consists four layers: robot body layer, data service layer, cloud service layer, user interaction layer. The open source based linux OS is deployed in both robot system and cloud system. The U-ATV robot is driven by ROS kinematic engine. The perception information from many kinds of sensing devices is collected by C++/Python interfaces. The user interaction is realized by QT based cross-platform IDE software. The experiments demonstrate the feasibility and effectiveness of this design based on a hard-in-Ioop robotic driving and operation testing platform.