| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2017 |
| Язык | английский |
|
Сабирова Лейсан Наилевна, автор
Сагитов Артур Газизович, автор
|
|
Лавренов Роман Олегович, автор
Сагитов Артур Газизович, автор
Сагитов Артур Газизович, автор
|
| Библиографическое описание на языке оригинала |
M Sokolov, I Afanasyev, R Lavrenov, A Sagitov, L Sabirova, E Magid
Artificial Life and Robotics (ICAROB 2017) - Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
| Аннотация |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017) |
| Ключевые слова |
USAR, ROS/Gazebo, crawler robot modelling, track simulation, system integration. |
| Название журнала |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017)
|
| URL |
http://alife-robotics.co.jp/homepage2018/members2017/icarob/data/html/data/GS_pdf/GS2/GS2-4.pdf |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=151885 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Сабирова Лейсан Наилевна |
ru_RU |
| dc.contributor.author |
Сагитов Артур Газизович |
ru_RU |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Сагитов Артур Газизович |
ru_RU |
| dc.contributor.author |
Сагитов Артур Газизович |
ru_RU |
| dc.date.accessioned |
2017-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2017-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2017 |
ru_RU |
| dc.identifier.citation |
M Sokolov, I Afanasyev, R Lavrenov, A Sagitov, L Sabirova, E Magid
Artificial Life and Robotics (ICAROB 2017) - Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=151885 |
ru_RU |
| dc.description.abstract |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017) |
ru_RU |
| dc.description.abstract |
A long-standing goal of robotics is to substitute humans in unreachable or dangerous environments, and one of such environments is urban search and rescue (USAR) domain. For USAR tasks we have selected a novel Russian crawler-type robot Engineer, and this paper presents our first steps toward modelling the robot in ROS/Gazebo environment. We convert provided by robot developers CAD models into workable ROS-based 3D simulation and incorporate physical parameters of the mechanisms into the model, focusing on track simulation. Robot motion and relative interplay of its visible mechanical parts is visualized in RViz software. The proposed model is integrated into a ready-to-use ROS navigation stack and the model?s behavior is thoroughly investigated while navigating through static obstacles populated scene in Gazebo environment. In this paper, we introduce an approximation of track-surface interaction of Engineer robot with modeled environment, and discuss the applicability of ROS-based ?G |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
USAR |
ru_RU |
| dc.subject |
ROS/Gazebo |
ru_RU |
| dc.subject |
crawler robot modelling |
ru_RU |
| dc.subject |
track simulation |
ru_RU |
| dc.subject |
system integration. |
ru_RU |
| dc.title |
Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
ru_RU |
| dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
|
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