A Successful Integration of the Robotic Technology Kernel (RTK) for a By-Wire Electric Vehicle System with a Mobile App Interface

TL;DR

This paper reports the successful integration of the Robotic Technology Kernel into an electric vehicle by-wire system, enabling autonomous operation with lidar, GPS, and a mobile app interface, demonstrating modular design and incremental development.

Contribution

It presents a novel integration of RTK into an electric vehicle system with a mobile app, using ROS-based message design for modularity and incremental software development.

Findings

Complete RTK integration into EV by-wire system

Development of a mobile app interface for autonomous vehicle control

Successful demonstration of Vehicle Summoning System (VSS)

Abstract

We were able to complete the full integration of the Robotic Technology Kernel (RTK) into an electric vehicle by-wire system using lidar and GPS sensors. The solution included a mobile application to interface with the RTK-enabled autonomous vehicle. Altogether the system was designed to be modular, using the concepts of message-based software design that is built into the Robot Operating System (ROS), which is at the foundation of RTK. The team worked incrementally to develop working software to demonstrate each milestone on the path to successfully completing the RTK integration for the development of an application called the Vehicle Summoning System (VSS).