Control architecture of a remotely controlled vehicle in extreme CBRNE conditions

In this paper, we present a control architecture for a remotely controlled vehicle. It enables fully autonomous navigation of the vehicle while performing GPS-based waypoint or GPS-based patrolling tasks. The addressed tasks are fundamental for resolving chemical, biological, radiological, nuclear and explosive (CBRNE) threats. The control architecture is based on the Quantum geographic information system (QGIS) and the Robotic Operation System (ROS). QGIS is employed for the implementation of the user interface, whereas for the implementation of the vehicle navigation system, ROS is used. We also present a novel solution for the communication between QGIS and ROS. The execution of the waypoint and patrolling tasks is tested in simulation using the Gazebo simulator and experimentally on a Husky A200 mobile robot.