A ROS-Based Autonomous Vehicle Testbed for the Internet of Vehicles

This paper describes the design and implementation procedure of a Robot Operating System (ROS) testbed for research on the concept of Internet of Vehicles and the integration of Digital Twins in autonomous vehicles. The proposed testbed integrates communication devices, sensors, and micro-controllers to collect real-time data from the physical environment, enabling the replication of such systems in a virtual environment using Digital Twins. The framework provides a hands-on approach for researchers and students to understand the operation and control of autonomous vehicles without requiring full-scale vehicles. The interactive and immersive learning experience simulates a real-sized vehicle, allowing users to explore the effects of different control algorithms and sensor configurations. Developed using open-source software such as ROS and low-cost microcontrollers and sensors, the platform is affordable for research and development, providing an engaging and practical learning experience.