Open AccessDesign and Validation of an auxiliary automatic driving system for tram track cleaning vehicles based on ROS
Author(s) -
MA Xi-zhe,
Zhongbing Fang,
Kaizhou Liang,
Jianshuo hu,
Qiantong Wu,
Xiaojie Huang,
Yongjun Xie
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1883/1/012127
Subject(s) - track (disk drive) , automation , obstacle , engineering , automotive engineering , container (type theory) , software , computer science , simulation , embedded system , mechanical engineering , political science , law , programming language
This paper aims to improve the automation of tram track cleaning vehicles by applying cutting-edge technologies from multiple disciplines such as positioning and navigation, environment perception, compliance operation, and real-time obstacle avoidance to conventional tram track cleaning vehicles. At present, there is no relatively perfect solution for the automation of tram track cleaning vehicles at home and abroad. This paper gives a reference for hardware selection and provides design ideas for software design when designing the tram track cleaning vehicle automatic driving. A set of test tracks and rules for the automatic driving system is designed on the simulation platform for the use scenarios of tram track cleaning vehicles, and the feasibility of the research system in this paper is verified on this basis.