ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles

As autonomous vehicle development continues at growing speeds, so does the need to optimize, diagnose, and test various elements of autonomous systems under different conditions. Since such processes should be carried out in parallel, it may result in bottlenecks in development and increased complex...

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Autores principales:	Sergei Jegorov, Vladimir Kuts, Anton Rassõlkin, Viktor Rjabtšikov
Formato:	article
Lenguaje:	EN
Publicado:	Estonian Academy Publishers 2021
Materias:	ros autonomous vehicles propulsion drives digital twins simulations. Science Q
Acceso en línea:	https://doaj.org/article/abc3a0f530bd4ce89c0e7922be2df785
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id	oai:doaj.org-article:abc3a0f530bd4ce89c0e7922be2df785
record_format	dspace
spelling	oai:doaj.org-article:abc3a0f530bd4ce89c0e7922be2df7852021-11-17T17:48:21ZROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles1736-60461736-753010.3176/proc.2021.4.04https://doaj.org/article/abc3a0f530bd4ce89c0e7922be2df7852021-11-01T00:00:00Zhttps://kirj.ee/wp-content/plugins/kirj/pub/proc-4-2021-392-398_20211101161237.pdfhttps://doaj.org/toc/1736-6046https://doaj.org/toc/1736-7530As autonomous vehicle development continues at growing speeds, so does the need to optimize, diagnose, and test various elements of autonomous systems under different conditions. Since such processes should be carried out in parallel, it may result in bottlenecks in development and increased complexity. The trend for Digital Twins offers a promising option for the diagnosis and testing to be carried out separately from the physical devices, incl. autonomous vehicles in the virtual world. The idea of intercommunication between virtual and physical twins provides possibilities to estimate risks, drawbacks, physical damages to the vehicleâs drive systems, and the physical vehicleÊ¼s critical conditions. Although providing communications between these systems arises at the speed that will be adequate to represent the physical vehicle in the virtual world correctly, it is still a trendy topic. This paper aims to demonstrate the enhancement of communications by using the Robot Operating System (ROS) as a middleware interface between two twinning systems by the example of the autonomous vehicleÊ¼s propulsion drive. Data gathered from the physical and virtual worlds can be exchanged in the middle to allow for continuous training and optimization of the propulsion drive model, which would lead to more efficient path planning and energy-efficient drive of the autonomous vehicle itself. Additionally, a comparative analysis of ROS and its next version ROS2 is provided, discussing their differences and outlining drawbacks.Sergei JegorovVladimir KutsAnton RassõlkinViktor RjabtšikovEstonian Academy Publishersarticlerosautonomous vehiclespropulsion drivesdigital twinssimulations.ScienceQENProceedings of the Estonian Academy of Sciences, Vol 70, Iss 4, Pp 392-398 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	ros autonomous vehicles propulsion drives digital twins simulations. Science Q
spellingShingle	ros autonomous vehicles propulsion drives digital twins simulations. Science Q Sergei Jegorov Vladimir Kuts Anton Rassõlkin Viktor Rjabtšikov ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
description	As autonomous vehicle development continues at growing speeds, so does the need to optimize, diagnose, and test various elements of autonomous systems under different conditions. Since such processes should be carried out in parallel, it may result in bottlenecks in development and increased complexity. The trend for Digital Twins offers a promising option for the diagnosis and testing to be carried out separately from the physical devices, incl. autonomous vehicles in the virtual world. The idea of intercommunication between virtual and physical twins provides possibilities to estimate risks, drawbacks, physical damages to the vehicleâs drive systems, and the physical vehicleÊ¼s critical conditions. Although providing communications between these systems arises at the speed that will be adequate to represent the physical vehicle in the virtual world correctly, it is still a trendy topic. This paper aims to demonstrate the enhancement of communications by using the Robot Operating System (ROS) as a middleware interface between two twinning systems by the example of the autonomous vehicleÊ¼s propulsion drive. Data gathered from the physical and virtual worlds can be exchanged in the middle to allow for continuous training and optimization of the propulsion drive model, which would lead to more efficient path planning and energy-efficient drive of the autonomous vehicle itself. Additionally, a comparative analysis of ROS and its next version ROS2 is provided, discussing their differences and outlining drawbacks.
format	article
author	Sergei Jegorov Vladimir Kuts Anton Rassõlkin Viktor Rjabtšikov
author_facet	Sergei Jegorov Vladimir Kuts Anton Rassõlkin Viktor Rjabtšikov
author_sort	Sergei Jegorov
title	ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
title_short	ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
title_full	ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
title_fullStr	ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
title_full_unstemmed	ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles
title_sort	ros middle-layer integration into unity3d as an interface option for propulsion drive simulations of autonomous vehicles
publisher	Estonian Academy Publishers
publishDate	2021
url	https://doaj.org/article/abc3a0f530bd4ce89c0e7922be2df785
work_keys_str_mv	AT sergeijegorov rosmiddlelayerintegrationintounity3dasaninterfaceoptionforpropulsiondrivesimulationsofautonomousvehicles AT vladimirkuts rosmiddlelayerintegrationintounity3dasaninterfaceoptionforpropulsiondrivesimulationsofautonomousvehicles AT antonrassolkin rosmiddlelayerintegrationintounity3dasaninterfaceoptionforpropulsiondrivesimulationsofautonomousvehicles AT viktorrjabtsikov rosmiddlelayerintegrationintounity3dasaninterfaceoptionforpropulsiondrivesimulationsofautonomousvehicles
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ROS middle-layer integration into Unity3D as an interface option for propulsion drive simulations of autonomous vehicles

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