КФУ. Карточка публикации. LIRS-Mazegen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator

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LIRS-MAZEGEN: AN EASY-TO-USE BLENDER EXTENSION FOR MODELING MAZE-LIKE ENVIRONMENTS FOR GAZEBO SIMULATOR

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2023

Язык

английский

Авторы, сотрудники КФУ

Исхакова Анжелика Сергеевна, автор

Библиографическое описание на языке оригинала

Iskhakova, A., Abbyasov, B., Tsoy, T., Mironchuk, T., Svinin, M., Magid E. (2023). LIRS-Mazegen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator. Frontiers in Robotics and Electromechanics, Vol. 329, pp. 147-161.

Аннотация

3D modeling is a reconstruction technique used to create a 3D digital representation of real objects with varying difficulty. In robotics field, the modeling approach is often used for prototyping 3D robot models and designing virtual environments. But since 3D modeling requires essential skills and knowledge, modeling tools are hard to understand for beginners and therefore do not allow creating complex models rapidly. This paper presents a maze generation tool LIRS-MazeGen, which is an extension for the Blender modeling toolset. The extension is written in Python language and provides graphical user interface for creating 3D maze-like environments with varying difficulty in a quick manner. The tool allows creating four types of models: a regular maze, a bounded maze, an office type environment, and a warehouse environment. The output 3D models are saved into Gazebo world files and could be further easily loaded into Gazebo simulator. The generated mazes were validated using Hector SLAM and GMapping navigation algorithms with three types of mobile robots: Servosila Engineer, Husky, and TurtleBot3. The virtual tests demonstrated an acceptable level or real-time factor (RTF) that allows to use the generated Gazebo worlds in a comfortable for a user manner.

Ключевые слова

3D modeling, Simulation, Gazebo, Robotics, USAR

Название журнала

Frontiers in Robotics and Electromechanics

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https://repository.kpfu.ru/?p_id=284332

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Исхакова Анжелика Сергеевна	ru_RU
dc.date.accessioned	2023-01-01T00:00:00Z	ru_RU
dc.date.available	2023-01-01T00:00:00Z	ru_RU
dc.date.issued	2023	ru_RU
dc.identifier.citation	Iskhakova, A., Abbyasov, B., Tsoy, T., Mironchuk, T., Svinin, M., Magid E. (2023). LIRS-Mazegen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator. Frontiers in Robotics and Electromechanics, Vol. 329, pp. 147-161.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=284332	ru_RU
dc.description.abstract	Frontiers in Robotics and Electromechanics	ru_RU
dc.description.abstract	3D modeling is a reconstruction technique used to create a 3D digital representation of real objects with varying difficulty. In robotics field, the modeling approach is often used for prototyping 3D robot models and designing virtual environments. But since 3D modeling requires essential skills and knowledge, modeling tools are hard to understand for beginners and therefore do not allow creating complex models rapidly. This paper presents a maze generation tool LIRS-MazeGen, which is an extension for the Blender modeling toolset. The extension is written in Python language and provides graphical user interface for creating 3D maze-like environments with varying difficulty in a quick manner. The tool allows creating four types of models: a regular maze, a bounded maze, an office type environment, and a warehouse environment. The output 3D models are saved into Gazebo world files and could be further easily loaded into Gazebo simulator. The generated mazes were validated using Hector SLAM and GMapping navigation algorithms with three types of mobile robots: Servosila Engineer, Husky, and TurtleBot3. The virtual tests demonstrated an acceptable level or real-time factor (RTF) that allows to use the generated Gazebo worlds in a comfortable for a user manner.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	3D modeling	ru_RU
dc.subject	Simulation	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	USAR	ru_RU
dc.title	LIRS-Mazegen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU