OpenPodcar: An Open Source Vehicle for Self-Driving Car Research

• Published in: Journal of open hardware 2023-09, Vol.7 (1), p.8-8
• Main Authors: Camara, Fanta, Waltham, Chris, Churchill, Grey, Fox, Charles
• Format: Article
• Language: English
• Subjects: automation; autonomous vehicle; mobility scooter; open source platform; self-driving car
• ISSN: 2514-1708; 2514-1708
• DOI: 10.5334/joh.46

OpenPodcar is a low-cost, open source hardware and software, autonomous vehicle research platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. Hardware and software build instructions are provided to convert the donor vehicle into a low-cost and fully autonomous platform. The open platform consists of (a) hardware components: CAD designs, bill of materials, and build instructions; (b) Arduino, ROS and Gazebo control and simulation software files which provide standard ROS interfaces and simulation of the vehicle; and (c) higher-level ROS software implementations and configurations of standard robot autonomous planning and control, including the move_base interface with Timed-Elastic-Band planner which enacts commands to drive the vehicle from a current to a desired pose around obstacles. The vehicle is large enough to transport a human passenger or similar load at speeds up to 15 km/h, for example for use as a last-mile autonomous taxi service or to transport delivery containers similarly around a city center. It is small and safe enough to be parked in a standard research lab and be used for realistic human-vehicle interaction studies. System build cost from new components is around USD7,000 in total in 2022. OpenPodcar thus provides a good balance between real world utility, safety, cost and research convenience.