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We present a small autonomous vehicle, with the purpose of aiding teachersand researchers to easily deploy different approaches to guidance, control andpositioning systems, without the hassle to develop the entire modules requiredfor such endeavor. The design was mainly guided to accomplish a very smallcost, along with easy accessibility of the parts used. One of the main problemsof using low cost parts is the difficulty of modeling its dynamics, mainlybecause they lack proper documentation and also because the time varying natureof its characteristics, due to degradation caused by usage. At the same time,any change made to the physical design of the vehicle must be reflected in themathematical model. We develop a methodology for easy reconfiguration of thevehicle, being able to obtain detailed dynamic mathematical models of thesystem, as well as a the statistical models needed when implementing stochasticmethods such as Kalman Filtering. Baseline example implementations of guidance,control and positioning systems are provided. The hole system is autonomous andself-contained and was tested in a low cost embedded system.

A low cost small reconfigurable autonomous vehicle for research, testing and teaching of guidance, control and positioning systems