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Control architecture of a remotely controlled vehicle in extreme CBRNE conditions


Šelek, Ana; Jurić, Demijan; Čirjak, Anđela; Marić, Filip; Seder, Marija; Marković, Ivan; Petrović, Ivan
Control architecture of a remotely controlled vehicle in extreme CBRNE conditions // International Conference on Electrical Drives & Power Electronics - EDPE 2019 / Dudrik, Jaroslav ; Fedák, Viliam ; Kyslan, Karol ; Matuško, Jadranko (ur.).
Novy Smokovec: IEEE, 2019. str. 273-278 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Control architecture of a remotely controlled vehicle in extreme CBRNE conditions

Autori
Šelek, Ana ; Jurić, Demijan ; Čirjak, Anđela ; Marić, Filip ; Seder, Marija ; Marković, Ivan ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
International Conference on Electrical Drives & Power Electronics - EDPE 2019 / Dudrik, Jaroslav ; Fedák, Viliam ; Kyslan, Karol ; Matuško, Jadranko - Novy Smokovec : IEEE, 2019, 273-278

ISBN
978-1-7281-0388-4

Skup
International Conference on Electrical Drives & Power Electronics (EDPE)

Mjesto i datum
Novy Smokovec, Slovačka, 24-26.09.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous navigation ; GPS ; waypoint ; patrolling ; CBRNE threats

Sažetak
In this paper, we present a control architecture for a remotely controlled vehicle. It enables fully autonomous navigation of the vehicle while performing GPS- based waypoint or GPS-based patrolling tasks. The addressed tasks are fundamental for resolving chemical, biological, radiological, nuclear and explosive (CBRNE) threats. The control architecture is based on the Quantum geographic information system (QGIS) and the Robotic Operation System (ROS). QGIS is employed for the implementation of the user interface, whereas for the implementation of the vehicle navigation system, ROS is used. We also present a novel solution for the communication between QGIS and ROS. The execution of the waypoint and patrolling tasks is tested in simulation using the Gazebo simulator and experimentally on a Husky A200 mobile robot.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb