KFU. Card publication. 3D modelling and simulation of a crawler robot in ROS/Gazebo

KAZAN
FEDERAL UNIVERSITY

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3D MODELLING AND SIMULATION OF A CRAWLER ROBOT IN ROS/GAZEBO

Form of presentation

Articles in international journals and collections

Year of publication

2016

Язык

английский

Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Authors, postgraduates KFU

Lavrenov Roman Olegovich, postgraduate kfu

Bibliographic description in the original language

Sokolov M., Lavrenov R., Gabdullin A., Afanasyev I., Magid E. 3D modelling and simulation of a crawler robot in ROS/Gazebo // Proceedings of the 4th International Conference on Control, Mechatronics and Automation (ICCMA) (Barcelona, Spain; 7-11 December 2016) - p. 61-65.

Annotation

Modelling and animation of crawler UGV's caterpillars is a complicated task, which has not been completely resolved in ROS/Gazebo simulators. In this paper, we proposed an approximation of track-terrain interaction of a crawler UGV, perform modelling and simulation of Russian crawler robot “Engineer” within ROS/Gazebo and visualize its motion in ROS/RViz software. Finally, we test the proposed model in heterogeneous robot group navigation scenario within uncertain Gazebo environment.

Keywords

ROS, Gazebo, mobile robor, crawler robot, modelling

The name of the journal

ACM International Conference Proceeding Series

URL

https://dl.acm.org/doi/10.1145/3029610.3029641

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=156952&p_lang=2

Resource files

File name	Size (MB)	Format
F_2016_3D_modelling_and_simulation_of_a_crawler_robot_in_ROS_Gazebo.pdf	0,93	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Sokolov M., Lavrenov R., Gabdullin A., Afanasyev I., Magid E. 3D modelling and simulation of a crawler robot in ROS/Gazebo // Proceedings of the 4th International Conference on Control, Mechatronics and Automation (ICCMA) (Barcelona, Spain; 7-11 December 2016) - p. 61-65.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=156952&p_lang=2	ru_RU
dc.description.abstract	ACM International Conference Proceeding Series	ru_RU
dc.description.abstract	Modelling and animation of crawler UGV's caterpillars is a complicated task, which has not been completely resolved in ROS/Gazebo simulators. In this paper, we proposed an approximation of track-terrain interaction of a crawler UGV, perform modelling and simulation of Russian crawler robot “Engineer” within ROS/Gazebo and visualize its motion in ROS/RViz software. Finally, we test the proposed model in heterogeneous robot group navigation scenario within uncertain Gazebo environment.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	mobile robor	ru_RU
dc.subject	crawler robot	ru_RU
dc.subject	modelling	ru_RU
dc.title	3D modelling and simulation of a crawler robot in ROS/Gazebo	ru_RU
dc.type	Articles in international journals and collections	ru_RU