| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2017 |
| Язык | английский |
|
Афанасьев Илья Михайлович, автор
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
Сабирова Лейсан Наилевна, автор
Сагитов Артур Газизович, автор
|
| Библиографическое описание на языке оригинала |
Sokolov M., Afanasyev I., Lavrenov R., Sagitov A., Sabirova L., & Magid E. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment // ICAROB 2017: International Conference on Artificial Life and Robotics (Miyazaki, Japan; 19-22 January 2017) - p. 360-363. |
| Аннотация |
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 “Gazebo-tracks” package for robust robot locomotion. |
| Ключевые слова |
Mobile robot, modelling, crawler rorbot, Gazebo, ROS |
| Название журнала |
ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS
|
| URL |
https://www.semanticscholar.org/paper/Modelling-a-crawler-type-UGV-for-urban-search-and-Sokolov-Afanasyev/9dbc830fc9b8e85b8c84a2d993d40fa947e005ca |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=214505 |
| Файлы ресурса | |
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|
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Афанасьев Илья Михайлович |
ru_RU |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Сабирова Лейсан Наилевна |
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 |
Sokolov M., Afanasyev I., Lavrenov R., Sagitov A., Sabirova L., & Magid E. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment // ICAROB 2017: International Conference on Artificial Life and Robotics (Miyazaki, Japan; 19-22 January 2017) - p. 360-363. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=214505 |
ru_RU |
| dc.description.abstract |
ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS |
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 “Gazebo-tracks” package for robust robot locomotion. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Mobile robot |
ru_RU |
| dc.subject |
modelling |
ru_RU |
| dc.subject |
crawler rorbot |
ru_RU |
| dc.subject |
Gazebo |
ru_RU |
| dc.subject |
ROS |
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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