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8. Conclusion This paper presents the creation of an ackermann robot, its simulation and their common interface. Furthermore, the implementation of a velocity motion model for these vehicles was explained. For future work, the created software will be allocated to the robotics community. Adding sensors like an IMU(InternalMeasurementUnit) to thevehicle to increase theaccuracyof themotion tracking is planned. Therefore, the interface needs to be extended to handle the new data input. This platform will be expanded by adding self localisation, thus sensor input is required. Based on the knowledge gainedwith the robot, further vehicleswill bebuilt. References [1] S. A. Beiker. Einfu¨hrungsszenarien fu¨r ho¨hergradig automatisierte Straßenfahrzeuge. In Au- tonomesFahren, pages197–217, 2015. [2] M. Quigley et al. Ros: an open-source robot operating system. In IRCA Workshop on Open SourceSoftware, 2009. [3] S.Thrunetal. Stanley: Therobot thatwonthedarpagrandchallenge. JournalofRoboticSystems -Special Issueon the DARPAGrandChallenge, 23(9):661–692,2006. [4] S. Thrun W. Burgard D. Fox. Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). TheMITPress, 2005. [5] A. Kiruthika R. Agasthiya T. Ramesh. Speed control of a sensored brushless dc motor using flc. International Journal ofEngineeringResearch&Technology (IJERT), 3(4):1–4,2014. [6] P.Ross. Robot, youcandrive mycar. IEEESpectrum, 51(6):60–90,2014. [7] R. Siegwart I. R. Nourbakhsh D. Scaramuzza. Introduction to Autonomous Mobile Robots. MIT Press, 2011. [8] P.Castillo-PizarroT.V.ArredondoM.Torres-Torriti. Introductorysurvey toopen-sourcemobile robotsimulationsoftware. InRoboticsSymposiumandIntelligentRoboticMeeting(LARS),2010 LatinAmerican, pages 150–155, 2010. 199