License: Creative Commons Attribution 3.0 Unported license (CC BY 3.0)
When quoting this document, please refer to the following
DOI: 10.4230/OASIcs.ASD.2019.3
URN: urn:nbn:de:0030-drops-103367
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2019/10336/
Tokunaga, Shota ;
Horita, Yuki ;
Oda, Yasuhiro ;
Azumi, Takuya
IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink
Abstract
This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.
BibTeX - Entry
@InProceedings{tokunaga_et_al:OASIcs:2019:10336,
author = {Shota Tokunaga and Yuki Horita and Yasuhiro Oda and Takuya Azumi},
title = {{IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink}},
booktitle = {Workshop on Autonomous Systems Design (ASD 2019)},
pages = {3:1--3:9},
series = {OpenAccess Series in Informatics (OASIcs)},
ISBN = {978-3-95977-102-3},
ISSN = {2190-6807},
year = {2019},
volume = {68},
editor = {Selma Saidi and Rolf Ernst and Dirk Ziegenbein},
publisher = {Schloss Dagstuhl--Leibniz-Zentrum fuer Informatik},
address = {Dagstuhl, Germany},
URL = {http://drops.dagstuhl.de/opus/volltexte/2019/10336},
URN = {urn:nbn:de:0030-drops-103367},
doi = {10.4230/OASIcs.ASD.2019.3},
annote = {Keywords: self-driving systems, framework, robot operating system (ROS), MATLAB/Simulink}
}
Keywords: |
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self-driving systems, framework, robot operating system (ROS), MATLAB/Simulink |
Collection: |
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Workshop on Autonomous Systems Design (ASD 2019) |
Issue Date: |
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2019 |
Date of publication: |
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28.03.2019 |