КФУ. Карточка публикации. Automatic Generation of Random Step Environment Models for Gazebo Simulator

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AUTOMATIC GENERATION OF RANDOM STEP ENVIRONMENT MODELS FOR GAZEBO SIMULATOR

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2021

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Цой Татьяна Григорьевна, автор

Авторы, студенты КФУ

Габдрахманов Руслан Тагирович, автор

Библиографическое описание на языке оригинала

Gabdrahmanov R. Automatic Generation of Random Step Environment Models for Gazebo Simulator // Tsoy T., Bai Y., Svinin M., Magid E. // Lecture Notes in Networks and Systems. - 2021. - №324. - 408-420.

Аннотация

Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments. This paper proposes a virtual RSE models' automatic generator LIRS-RSEGen for the Gazebo simulator. We analyzed typical for RSEs obstacles and structures, determined parameters that are required in order to generate a RSE and implemented a generator, which constructs RSE Gazebo worlds that could be further edited or directly used within the Gazebo. Constructed by our generator worlds were validated in the Gazebo using virtual models of TurtleBot3 wheeled robot and Servosila Engineer crawler robot.

Ключевые слова

USAR, UGV, Modelling, Gazebo, Random step environment

Название журнала

Lecture Notes in Networks and Systems

URL

https://link.springer.com/chapter/10.1007/978-3-030-86294-7_36

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https://repository.kpfu.ru/?p_id=256807

Файлы ресурса

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2021_Automatic_Generation_of_Random_Step_Environment_Models_for_Gazebo_Simulator.pdf	1,71	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Цой Татьяна Григорьевна	ru_RU
dc.contributor.author	Габдрахманов Руслан Тагирович	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Gabdrahmanov R. Automatic Generation of Random Step Environment Models for Gazebo Simulator // Tsoy T., Bai Y., Svinin M., Magid E. // Lecture Notes in Networks and Systems. - 2021. - №324. - 408-420.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=256807	ru_RU
dc.description.abstract	Lecture Notes in Networks and Systems	ru_RU
dc.description.abstract	Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments. This paper proposes a virtual RSE models' automatic generator LIRS-RSEGen for the Gazebo simulator. We analyzed typical for RSEs obstacles and structures, determined parameters that are required in order to generate a RSE and implemented a generator, which constructs RSE Gazebo worlds that could be further edited or directly used within the Gazebo. Constructed by our generator worlds were validated in the Gazebo using virtual models of TurtleBot3 wheeled robot and Servosila Engineer crawler robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	USAR	ru_RU
dc.subject	UGV	ru_RU
dc.subject	Modelling	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	Random step environment	ru_RU
dc.title	Automatic Generation of Random Step Environment Models for Gazebo Simulator	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU