Autonomous, reconfigurable mobile vehicle with rapid control prototyping functionality

The intention of this work is to show a prototyping path while developing control algorithms with special emphasis on a hardware platform and a software framework. In principle, both components are born separately so the integration may be complex. What's more, the project concerns a real-time controlled system. Communication between the control object and the external computer takes place wirelessly. The control and communication tasks must ensure autonomous operation of the controlled object. An additional difficulty is the critical control time due to a choice of a controlled system. It is a two-wheeled unstable mobile vehicle used as a transporter. The work is a review of the software and hardware tools used successfully by the authors. Although the tools themselves are not enough, engineering skills are also welcome. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.