Investigation into software frameworks for unmanned off-highway truck modules

Abstract

The paper shows the possibility of creating and programming the basic modules of a software framework based on the modular principle of operation, which should represent an architectural system for organising the automated control of a dump truck. The design process of the localisation module in the context of unmanned vehicles, focusing on the Autoware software framework, is described. Two architectural approaches, “required” and “recommended”, are derived from the design of the module and their comparative analysis is performed. Furthermore, the process of designing the “Planning” module in the Autoware unmanned vehicle creation software tool is presented. The main aspects of this module development are considered, including architectural features and integration with other components of the automated control system.