Abstract
Keywords - AGV, control architectures, multisensor, CAN.
Abstract - The paper describes the hardware architecture for an electric car, which is mainly based on CAN bus. The sensorization system can be divided in three following subsystems: Speed control, Steering-wheel control and Range sensor acquisition for environment perception. Each subsystem is based on a set of own-developed CAN nodes, which are connected to the different sensors and actuators involved, which are installed in the vehicle. A low-level software architecture layer receives and transmits data through the CAN storing it in a specific blackboards structure. The new sensorization system has been applied for: sensor fusion; map building; kinematic control; object tracking, obstacle avoidance; navigation; etc. In a first stage, all the implemented algorithms are based on well-known techniques. Some promising experimental results are shown in the last part of the paper.