开源低成本自动驾驶车平台，支持真实场景研究与部署。
OpenPodcar2: a robust, ROS2 vehicle for self-driving research
- 基于改装电动代步车，集成ROS2与通用机械电子板
- 可载人或货物，最高时速15km/h，成本约7000美元
- 适合高校科研与城市最后一公里应用
OpenPodcar2 是一款基于市售硬顶代步车改造的开源、低成本、鲁棒的自动驾驶车辆平台，采用 ROS2 接口。平台包含硬件组件（含物料清单与搭建说明）、与通用开源机械电子板 OSH R4 的集成，以及 Gazebo 车辆仿真，均提供统一的 ROS2 接口。上层软件实现标准机器人自主规划与控制，包括 nav2 堆栈，可完成建图与定位（SLAM），并绕过障碍物从当前位置导航至目标位姿。该平台可承载人类乘客或等效负载，最高速度达 15km/h，适用于城市中心的末梢自动驾驶出租车或配送服务。车身小巧安全，适合实验室停放，具备一定部署能力。全新组件总成本约 7,000 美元，若使用二手捐赠车辆则降至 2,000 美元。OpenPodcar2 在现实应用性、安全性、成本与鲁棒性之间实现了良好平衡。
原文摘要 · Abstract (English)
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modification of the previous OpenPodcar design, which extends it with robust electronics and ROS2 interfacing, to enable both research and also potential deployment use cases. The platform consists of (a) hardware components: documented as a bill of materials and build instructions; (b) integration to the general purpose OSH R4 mechatronics board and a Gazebo simulation of the vehicle, both presenting a common ROS2 interface (c) higher-level ROS2 software implementations and configurations of standard robot autonomous planning and control, including the nav2 stack which performs SLAM and enacts commands to drive the vehicle from a current to a desired pose around obstacles. OpenPodcar2 can transport a human passenger or similar load at speeds up to 15km/h, for example for use as a last-mile autonomous taxi service or to transport delivery containers similarly around a city center. It is small and safe enough to be parked in a standard research lab robust enough for some deployment cases. Total build cost was around 7,000USD from new components, or 2,000USD with a used Donor Vehicle. OpenPodcar2 thus provides a research balance between real world utility, safety, cost and robustness.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。