Adaptation and experimental analysis of the Universal Asynchronous Receiver-Transmitter based communication in Autonomous Ground Vehicle

Abstract

Autonomous ground vehicles (AGVs) are a complex and interdisciplinary research object which combines such areas as vehicle dynamics, automatic control theory, policy framework, etc. Correspondingly, various AGVs control issues, which are combined in the majority of cases, are solved in research works. The control signal formed by the AGVs lateral / longitudinal controller has to be transmitted and executed in real time without any delays or other disturbances. To achieve this goal various serial communication protocols and other communication systems are used. In this work an adaptation of the universal asynchronous receiver-transmitter based communication system (UART) for the use in AGVs is described and analyzed. Proposed adaptation of the UART based communication system was developed in the software package MATLAB/Simulink. The analysis was done based on the results of the experimental research using the AGV with the UART based communication system.