Design and Validation of an auxiliary automatic driving system for tram track cleaning vehicles based on ROS. Issue 1 (April 2021) - Ma, Xizhe
Abstract: 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.