Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 18

Before we go into the details of the rest of this book, let us briefly go over the modular design methodology and introduce each module. Hopefully with this introduction, readers will be able to easily follow the contents of this book.

Figure 1.2 shows a DragonFly Pod [13], a low-speed autonomous passenger pod built utilizing the modular design methodology described in this book. This vehicle consists of multiple components, a RTK GNSS module for localization, a DragonFly computer vision module for localization (using visual inertial odometry technology) and active perception, a mmWave radar and a sonar for passive perception, a planning and control module for real-time planning, and a chassis module. Figure 1.3 shows the architecture diagram of this design and shows how the modules interact with each other.

Figure 1.2 Modular design of a DragonFly Pod.

Figure 1.3 Modular design architecture.