KFU. Card publication. Navigation stack for the crawler robot Servosila Engineer

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

NAVIGATION STACK FOR THE CRAWLER ROBOT SERVOSILA ENGINEER

Form of presentation

Articles in international journals and collections

Year of publication

2021

Язык

английский

Authors, employees of KFU

Dobrokvashina Aleksandra Sergeevna, author

Lavrenov Roman Olegovich, author

Coy Tatyana Grigorevna, author

Bibliographic description in the original language

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.

Annotation

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.

Keywords

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

The name of the journal

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

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

https://repository.kpfu.ru/eng/?p_id=258517&p_lang=2

Resource files

File name	Size (MB)	Format
F_ICIEA_2021_Dobrokvashina.pdf	1,22	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.contributor.author	Coy Tatyana Grigorevna	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/eng/?p_id=258517&p_lang=2	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	Articles in international journals and collections	ru_RU