Form of presentation | Articles in international journals and collections |
Year of publication | 2020 |
Язык | английский |
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Lavrenov Roman Olegovich, author
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Moskvin Ilya Sergeevich, author
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Bibliographic description in the original language |
Moskvin I, Lavrenov R., Modeling tracks and controller for servosila engineer robot//Smart Innovation, Systems and Technologies. - 2020. - Vol.154, Is.. - P.411-422. |
Annotation |
Modeling is an important part of solving any problem in robotics. Models let our opportunity to make mistakes that could break real robot and learn on these mistakes causing no damage to the robot. This paper presents a creation of model for crawler robot “Servosila Engineer.” In this model, tracks were replaced by big count of smallwheels to get construction physically close to the track butwith simple realization for simulation. To test efficiency of model was created three groups of controllers: for ground tracks wheels, flippers and flippers tracks wheels. This model takes into account mistakes made creating previous version and has opportunity to be used in teleoperation mode. To create controller, we tried some base types of controllers represented by Gazebo plugin. Created model and controller are integrated with Gazebo simulation system and ROS framework and will be used in our future researches. |
Keywords |
Modeling, Tracked robot, Crawler robot, ROS, Gazebo, Mobile
robot, Servosila Engineer |
The name of the journal |
Smart Innovation, Systems and Technologies
|
URL |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85072878659&doi=10.1007%2f978-981-13-9267-2_33&partnerID=40&md5=751c37b862ef69739e8e9eefb2a2cb4b |
Please use this ID to quote from or refer to the card |
https://repository.kpfu.ru/eng/?p_id=212981&p_lang=2 |
Resource files | |
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Full metadata record ![](https://shelly.kpfu.ru/pdf/picture/arrow_black_right.gif) |
Field DC |
Value |
Language |
dc.contributor.author |
Lavrenov Roman Olegovich |
ru_RU |
dc.contributor.author |
Moskvin Ilya Sergeevich |
ru_RU |
dc.date.accessioned |
2020-01-01T00:00:00Z |
ru_RU |
dc.date.available |
2020-01-01T00:00:00Z |
ru_RU |
dc.date.issued |
2020 |
ru_RU |
dc.identifier.citation |
Moskvin I, Lavrenov R., Modeling tracks and controller for servosila engineer robot//Smart Innovation, Systems and Technologies. - 2020. - Vol.154, Is.. - P.411-422. |
ru_RU |
dc.identifier.uri |
https://repository.kpfu.ru/eng/?p_id=212981&p_lang=2 |
ru_RU |
dc.description.abstract |
Smart Innovation, Systems and Technologies |
ru_RU |
dc.description.abstract |
Modeling is an important part of solving any problem in robotics. Models let our opportunity to make mistakes that could break real robot and learn on these mistakes causing no damage to the robot. This paper presents a creation of model for crawler robot “Servosila Engineer.” In this model, tracks were replaced by big count of smallwheels to get construction physically close to the track butwith simple realization for simulation. To test efficiency of model was created three groups of controllers: for ground tracks wheels, flippers and flippers tracks wheels. This model takes into account mistakes made creating previous version and has opportunity to be used in teleoperation mode. To create controller, we tried some base types of controllers represented by Gazebo plugin. Created model and controller are integrated with Gazebo simulation system and ROS framework and will be used in our future researches. |
ru_RU |
dc.language.iso |
ru |
ru_RU |
dc.subject |
Modeling |
ru_RU |
dc.subject |
Tracked robot |
ru_RU |
dc.subject |
Crawler robot |
ru_RU |
dc.subject |
ROS |
ru_RU |
dc.subject |
Gazebo |
ru_RU |
dc.subject |
Mobile
robot |
ru_RU |
dc.subject |
Servosila Engineer |
ru_RU |
dc.title |
Modeling tracks and controller for servosila engineer robot |
ru_RU |
dc.type |
Articles in international journals and collections |
ru_RU |
|