Design and Integrated Implementation of a Unified Architecture for Intelligent Unmanned Ground Vehicles Based on MATLAB
DOI: https://doi.org/10.62517/jike.202604127
Author(s)
Zhanxin Ye
Affiliation(s)
School of Mechanical Engineering, UNSW, Mechatronic Engineering, NSW, 2052, Australia
Abstract
This paper addresses the challenges of complex hardware integration, fragmented software frameworks, and inconsistent interactions encountered during the development of unmanned ground vehicles (UGVs). It proposes and implements an intelligent UGV integrated control system centred on the MATLAB/Simulink platform. The system adopts a layered architecture comprising 'remote monitoring-onboard fusion-real-time control-sensor-based execution', integrating modules such as LiDAR terrain perception, GNSS/IMU tight-coupled positioning, Galil motion control, and Xbox remote operation. Through designing a unified multi-layer communication protocol and secure arbitration mechanism, and utilising MATLAB to complete the entire integration process from algorithm development and simulation validation to real-time monitoring, the system demonstrates stable module coordination and unimpeded closed-loop control command transmission in simulation experiments. This validates the effectiveness and engineering practicality of the proposed integrated solution, providing a replicable approach for rapid UGV prototyping.
Keywords
Matlab; UGVs; GNSS; IMU; Galileo
References
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