Development of autonomous driving using Robot Operating System

Živković, Aleksandar (2018). Development of autonomous driving using Robot Operating System. Thesis (Master thesis), E.T.S. de Ingenieros Informáticos (UPM).


Title: Development of autonomous driving using Robot Operating System
  • Živković, Aleksandar
Item Type: Thesis (Master thesis)
Masters title: Ingeniería del Software
Date: May 2018
Freetext Keywords: Autonomous Driving; Self-driving; Robot Operating System; ROS; RC Car
Faculty: E.T.S. de Ingenieros Informáticos (UPM)
Department: Lenguajes y Sistemas Informáticos e Ingeniería del Software
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[thumbnail of TFM_ALEKSANDAR_ZIVKOVIC.pdf]
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview


Autonomous driving, or self-driving, is the ability of a vehicle to drive itself without human input. To achieve this, the vehicle uses mechanical and electronic parts, sensors, actuators and an on-board computer. The on-board computer runs sophisticated software which allows the vehicle to perceive and understand its environment based on sensor input, localise itself in that environment and plan the optimal route from point A to point B. Autonomous driving is no longer a thing of the future, and to develop autonomous driving solutions is a highly valuable skill in today’s software engineering field.
Robot Operating System (ROS) is a meta-operating system that simplifies the process of robotics programming. This master’s thesis aims to demonstrate how ROS could be used to develop autonomous driving software by analysing autonomous driving problems, examining existing solutions and developing a prototype vehicle using ROS. This thesis provides an overview of autonomous driving and usage of ROS in the development of autonomous driving, then elaborates on the benefits and challenges of using ROS for autonomous car development.
The research methods used in this master’s thesis are design science research (DSR) and a literature review. An artefact is developed and evaluated—a remote-controlled (RC) car equipped with Raspberry Pi 3 board as the on-board computer, an Arduino Uno board, Teensy LC board, a set of sensors and ROS-based software. The thesis is supported by the author’s employer, automotive software company called Elektrobit.
By following the steps described in this thesis, it is possible to develop an autonomous driving RC car which runs on ROS. Additionally, this thesis shows why ROS provides good solutions for the autonomous driving issues. It points to the benefits of ROS: open sourced, peer-to-peer, network-based meta-operating system with ready-made components for autonomous driving, and highlights some of the challenges of ROS: security issues and single point of failure.

More information

Item ID: 51150
DC Identifier:
OAI Identifier:
Deposited by: Biblioteca Facultad de Informatica
Deposited on: 04 Jun 2018 10:47
Last Modified: 04 Jun 2018 10:47
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM