Autonomous Road Roller Control

ROS C++ Robotics

Developed a behavior-based control strategy for autonomous tandem road rollers, enabling precise double Ackermann steering and automated edge compaction.

System Components

Perception & Modeling

  • Road Representation & Edge Extraction
  • Kinematics Modeling (Bicycle Model)
  • Simulator Environment (Unreal Engine)

Control Strategy

  • Trajectory Creation & Tracking
  • Crab Steering Behavior
  • Automated Edge Cutter Activation

Architecture

  • iB2C Behavior-Based Control
  • 5G AMMCOA Communication Protocol
  • Distributed ROS Nodes

Control Architecture (iB2C)

Utilized the Integrated Behavior-Based Control (iB2C) architecture to manage complex robotic behaviors through stimulation and inhibition signals.

iB2C Structure
Behavior Fusion

Implementation Logic

Edge Compaction Behavior

Edge Compaction

Trajectory Decision

Trajectory Task

Simulation Results

Unreal Engine Simulation

Unreal Engine Sim

FinROC GUI Simulation

FinROC Sim
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