An Autonomous Multi-Vehicles Queue Following Control System with Vision and Laser and Simulation on ROS

This paper presents an autonomous vehicle queue following control system based on leader-follower model to describe vehicle longitudinal following. The wheeled mobile robots obtain information only from laser together with the vision system. Camshaft algorithm is used to process the video information for vehicle target recognition, and the distance between vehicles is measured by laser sensor. The effectiveness of the proposed queue following control is validated by simulation experiments through Gazebo simulator of Robot Operating System(ROS).