| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2020 |
| Язык | английский |
|
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
Moskvin I, Lavrenov R, Magid E, Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance//2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020. - 2020. - Vol., Is.. - P.1-5. |
| Аннотация |
Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robot control system and tested in field experiments, extensive virtual simulations should be performed in order to verify them carefully. This requires a proper modelling of a robot in a virtual environment, but a specific construction of crawler robot crawlers complicates the modelling. In this paper, in order to provide a high level of physical interaction similarity of a crawler with a supporting surface we model crawlers of mobile robot Servosila Engineer with a set of virtual wheels and study a relationship between a model complexity and a simulation performance. The model complexity is reflected by a number of virtual wheels that approximate each crawler of the robot. Verification experiments were performed in ROS/Gazebo simulator. |
| Ключевые слова |
ROS, Gazebo, modelling, mobile robot, crawler robot, simulation performance, model complexity, virtual wheels |
| Название журнала |
2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020
|
| URL |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85086075443&doi=10.1109%2fICIEA49774.2020.9102110&partnerID=40&md5=66ad4e8d05e9ec18bb906b19c38fcb5d |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=234501 |
| Файлы ресурса | |
|
|
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.date.accessioned |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2020 |
ru_RU |
| dc.identifier.citation |
Moskvin I, Lavrenov R, Magid E, Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance//2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020. - 2020. - Vol., Is.. - P.1-5. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=234501 |
ru_RU |
| dc.description.abstract |
2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020 |
ru_RU |
| dc.description.abstract |
Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robot control system and tested in field experiments, extensive virtual simulations should be performed in order to verify them carefully. This requires a proper modelling of a robot in a virtual environment, but a specific construction of crawler robot crawlers complicates the modelling. In this paper, in order to provide a high level of physical interaction similarity of a crawler with a supporting surface we model crawlers of mobile robot Servosila Engineer with a set of virtual wheels and study a relationship between a model complexity and a simulation performance. The model complexity is reflected by a number of virtual wheels that approximate each crawler of the robot. Verification experiments were performed in ROS/Gazebo simulator. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
ROS |
ru_RU |
| dc.subject |
Gazebo |
ru_RU |
| dc.subject |
modelling |
ru_RU |
| dc.subject |
mobile robot |
ru_RU |
| dc.subject |
crawler robot |
ru_RU |
| dc.subject |
simulation performance |
ru_RU |
| dc.subject |
model complexity |
ru_RU |
| dc.subject |
virtual wheels |
ru_RU |
| dc.title |
Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance |
ru_RU |
| dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
|
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