RCautot

RCautot is a modular open-source software framework for remote-controlled vehicles that supports both teleoperation and autonomous navigation. The project aims to provide a unified software stack that runs on common RC hardware such as microcontrollers and single-board computers, enabling rapid prototyping for hobbyists and researchers.

Core components include a hardware abstraction layer that standardizes motor controllers, sensors, and power management; a data pipeline for sensors like IMU, GPS, wheel encoders, and optionally lidar or cameras; a suite of control and planning algorithms (PID or MPC controllers, waypoint-based navigation, and sampling-based planners); and a simulation interface for testing in Gazebo or PyBullet.

RCautot emphasizes modularity and interoperability. It can operate in teleoperation mode via gamepad or RC receiver input, or switch to autonomous mode guided by a mission planner. It supports ROS 2 for messaging and can run natively with Python or C++ components. The project includes tools for logging, offline analysis, and hardware-in-the-loop testing.

Typical use cases include hobbyist RC car experiments, educational robotics labs, and exploration or surveying tasks with small unmanned ground vehicles. Limitations include resource constraints on low-power boards, real-time performance considerations, and the need for careful tuning of control parameters in dynamic environments.

The project originated from a community-driven effort in the mid-2020s to standardize autonomous RC vehicle software. It is maintained by volunteers and several contributing organizations, with regular releases and community documentation.