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MODELLING A CRAWLER ROBOT USING WHEELS AS PSEUDO-TRACKS: MODEL COMPLEXITY VS PERFORMANCE
Форма представленияСтатьи в зарубежных журналах и сборниках
Год публикации2020
Языканглийский
  • 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
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