КФУ. Карточка публикации. Navigation stack for the crawler robot Servosila Engineer

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NAVIGATION STACK FOR THE CRAWLER ROBOT SERVOSILA ENGINEER

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2021

Язык

английский

Авторы, сотрудники КФУ

Доброквашина Александра Сергеевна, автор

Лавренов Роман Олегович, автор

Цой Татьяна Григорьевна, автор

Библиографическое описание на языке оригинала

Dobrokvashina A, Lavrenov R, Tsoy T, Navigation stack for the crawler robot Servosila Engineer//Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. - 2021. - Vol., Is.. - P.1907-1912.

Аннотация

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, which allows constructing any type of an environment and simulate different operational conditions for a robot. Therefore a development of an appropriate simulated robot model and its navigation capabilities within a simulator are recently in a focus of many research teams. This article presents a number of improvements to the Gazebo simulator model of the crawler robot Servosila Engineer and a newly developed navigation stack. The navigation stack was validated with the robot's model in the Gazebo and with a real robot in a laboratory environment.

Ключевые слова

crawler robot, Servosila Engineer, USAR, urban search and rescue, 3D model, navigation, Gazebo, ROS

Название журнала

Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85115441448&doi=10.1109%2fICIEA51954.2021.9516393&partnerID=40&md5=6143f04d8bf2ffd3b20a7fe02ce4a471

Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку

https://repository.kpfu.ru/?p_id=258517

Файлы ресурса

Название файла	Размер (Мб)	Формат
F_ICIEA_2021_Dobrokvashina.pdf	1,22	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Доброквашина Александра Сергеевна	ru_RU
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Цой Татьяна Григорьевна	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	Dobrokvashina A, Lavrenov R, Tsoy T, Navigation stack for the crawler robot Servosila Engineer//Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. - 2021. - Vol., Is.. - P.1907-1912.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=258517	ru_RU
dc.description.abstract	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021	ru_RU
dc.description.abstract	Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, which allows constructing any type of an environment and simulate different operational conditions for a robot. Therefore a development of an appropriate simulated robot model and its navigation capabilities within a simulator are recently in a focus of many research teams. This article presents a number of improvements to the Gazebo simulator model of the crawler robot Servosila Engineer and a newly developed navigation stack. The navigation stack was validated with the robot's model in the Gazebo and with a real robot in a laboratory environment.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	crawler robot	ru_RU
dc.subject	Servosila Engineer	ru_RU
dc.subject	USAR	ru_RU
dc.subject	urban search and rescue	ru_RU
dc.subject	3D model	ru_RU
dc.subject	navigation	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	ROS	ru_RU
dc.title	Navigation stack for the crawler robot Servosila Engineer	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU