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: https://drops.dagstuhl.de/opus/volltexte/2019/10336/
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Tokunaga, Shota ; Horita, Yuki ; Oda, Yasuhiro ; Azumi, Takuya

IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

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OASIcs-ASD-2019-3.pdf (2 MB)


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: self-driving systems, framework, robot operating system (ROS), MATLAB/Simulink
Collection: Workshop on Autonomous Systems Design (ASD 2019)
Issue Date: 2019
Date of publication: 28.03.2019


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