Open-source embedded framework for unmanned ground vehicle control using CIAA

In this paper a new open-source and open-hardware framework for Unmanned Ground Vehicle (UGV) control is described. The hardware is based on CIAA (Computadora Industrial Abierta Argentina) and Arduino modules while the software is based on NuttX real-time operating system (RTOS). For communication, the MAVlink protocol is used, also enabling interfacing with ROS (Robot Operating System). The framework can be employed for different style UGVs (differential drive, omnidirectional, skid steer) with different number of motorized wheels. It is designed for low-cost and ease of integration and adoption. The proposed framework was employed as the control system of a four-wheel skid-steer rover protoype developed by the authors, which is also described as a part of this work.