ZeloS -- A Research Platform for Early-Stage Validation of Research Findings Related to Automated Driving

TL;DR

ZeloS is a modular, lightweight research platform for early validation of automated driving methods, featuring flexible hardware and automation architecture with optimization-based motion planning and control.

Contribution

Introduction of ZeloS, a versatile, modular research platform with a focus on early-stage validation of automated driving techniques, emphasizing hardware simplicity and flexible automation modules.

Findings

Hardware setup and automation architecture demonstrated with experimental data.

Modular design enables easy modification of automation modules.

Optimization-based motion planning and control effectively handle constraints.

Abstract

This paper presents ZeloS, a research platform designed and built for practical validation of automated driving methods in an early stage of research. We overview ZeloS' hardware setup and automation architecture and focus on motion planning and control. ZeloS weighs 69 kg, measures a length of 117 cm, and is equipped with all-wheel steering, all-wheel drive, and various onboard sensors for localization. The hardware setup and the automation architecture of ZeloS are designed and built with a focus on modularity and the goal of being simple yet effective. The modular design allows the modification of individual automation modules without the need for extensive onboarding into the automation architecture. As such, this design supports ZeloS in being a versatile research platform for validating various automated driving methods. The motion planning component and control of ZeloS feature optimization-based methods that allow for explicitly considering constraints. We demonstrate the hardware and automation setup by presenting experimental data.