KFU. Card publication. Improving model of crawler robot Servosila Engineer for simulation in ROS/Gazebo

KAZAN
FEDERAL UNIVERSITY

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- 中文
- ES

IMPROVING MODEL OF CRAWLER ROBOT SERVOSILA ENGINEER FOR SIMULATION IN ROS/GAZEBO

Form of presentation

Articles in international journals and collections

Year of publication

2020

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Authors, employees of KFU

Dobrokvashina Aleksandra Sergeevna, author

Lavrenov Roman Olegovich, author

Bibliographic description in the original language

Dobrokvashina A., Lavrenov R., Martinez-Garcia E. A., Bai Y. Improving model of crawler robot Servosila Engineer for simulation in ROS/Gazebo // Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2020. - Vol.2020-December, Is.. - P.212-217.

Annotation

Crawler robots are popular in tasks of urban search and rescue. Because of using tracks most of these robots have good traversability on rough terrains. For creating and testing these abilities and crawler robot itself often used simulators, which could help to reconstruct most of the conditions and environment without any difficulties. And this is a reason why most of the robots must have its simulation model.In this paper, we present a fully equipped and moving model of tracked robot Servosila «Engineer«. It contains all of the sensors that used a real robot with the ability to get information from them via ROS topics through all the time of the simulation. Also, it has similar to real robot control elements, physic characteristics and useful crawler simulation.

Keywords

crawler robot, Gazebo, modeling, ROS, Servosila Engineer, track simulation, urban search and rescue, USAR

The name of the journal

Proceedings - International Conference on Developments in eSystems Engineering, DeSE

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85112504372&doi=10.1109%2fDeSE51703.2020.9450233&partnerID=40&md5=b08a83c4534e108db0c659bd667ce681

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

https://repository.kpfu.ru/eng/?p_id=255746&p_lang=2

Resource files

File name	Size (MB)	Format
F_Dese_2020_Dobrokvashina.pdf	27,74	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Dobrokvashina Aleksandra Sergeevna	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	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	Dobrokvashina A., Lavrenov R., Martinez-Garcia E. A., Bai Y. Improving model of crawler robot Servosila Engineer for simulation in ROS/Gazebo // Proceedings - International Conference on Developments in eSystems Engineering, DeSE. - 2020. - Vol.2020-December, Is.. - P.212-217.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=255746&p_lang=2	ru_RU
dc.description.abstract	Proceedings - International Conference on Developments in eSystems Engineering, DeSE	ru_RU
dc.description.abstract	Crawler robots are popular in tasks of urban search and rescue. Because of using tracks most of these robots have good traversability on rough terrains. For creating and testing these abilities and crawler robot itself often used simulators, which could help to reconstruct most of the conditions and environment without any difficulties. And this is a reason why most of the robots must have its simulation model.In this paper, we present a fully equipped and moving model of tracked robot Servosila «Engineer«. It contains all of the sensors that used a real robot with the ability to get information from them via ROS topics through all the time of the simulation. Also, it has similar to real robot control elements, physic characteristics and useful crawler simulation.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	crawler robot	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	modeling	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Servosila Engineer	ru_RU
dc.subject	track simulation	ru_RU
dc.subject	urban search and rescue	ru_RU
dc.subject	USAR	ru_RU
dc.title	Improving model of crawler robot Servosila Engineer for simulation in ROS/Gazebo	ru_RU
dc.type	Articles in international journals and collections	ru_RU