Form of presentation | Articles in international journals and collections |
Year of publication | 2017 |
Язык | английский |
|
Sabirova Leysan Nailevna, author
Sagitov Artur Gazizovich, author
|
|
Lavrenov Roman Olegovich, postgraduate kfu
Sagitov Artur Gazizovich, postgraduate kfu
Sagitov Artur Gazizovich, postgraduate kfu
|
Bibliographic description in the original language |
M Sokolov, I Afanasyev, R Lavrenov, A Sagitov, L Sabirova, E Magid
Artificial Life and Robotics (ICAROB 2017) - Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
Annotation |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017) |
Keywords |
USAR, ROS/Gazebo, crawler robot modelling, track simulation, system integration. |
The name of the journal |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017)
|
URL |
http://alife-robotics.co.jp/homepage2018/members2017/icarob/data/html/data/GS_pdf/GS2/GS2-4.pdf |
Please use this ID to quote from or refer to the card |
https://repository.kpfu.ru/eng/?p_id=151885&p_lang=2 |
Resource files | |
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Full metadata record |
Field DC |
Value |
Language |
dc.contributor.author |
Sabirova Leysan Nailevna |
ru_RU |
dc.contributor.author |
Sagitov Artur Gazizovich |
ru_RU |
dc.contributor.author |
Lavrenov Roman Olegovich |
ru_RU |
dc.contributor.author |
Sagitov Artur Gazizovich |
ru_RU |
dc.contributor.author |
Sagitov Artur Gazizovich |
ru_RU |
dc.date.accessioned |
2017-01-01T00:00:00Z |
ru_RU |
dc.date.available |
2017-01-01T00:00:00Z |
ru_RU |
dc.date.issued |
2017 |
ru_RU |
dc.identifier.citation |
M Sokolov, I Afanasyev, R Lavrenov, A Sagitov, L Sabirova, E Magid
Artificial Life and Robotics (ICAROB 2017) - Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
ru_RU |
dc.identifier.uri |
https://repository.kpfu.ru/eng/?p_id=151885&p_lang=2 |
ru_RU |
dc.description.abstract |
The 2017 International Conference on Artificial Life and Robotics (ICAROB 2017) |
ru_RU |
dc.description.abstract |
A long-standing goal of robotics is to substitute humans in unreachable or dangerous environments, and one of such environments is urban search and rescue (USAR) domain. For USAR tasks we have selected a novel Russian crawler-type robot Engineer, and this paper presents our first steps toward modelling the robot in ROS/Gazebo environment. We convert provided by robot developers CAD models into workable ROS-based 3D simulation and incorporate physical parameters of the mechanisms into the model, focusing on track simulation. Robot motion and relative interplay of its visible mechanical parts is visualized in RViz software. The proposed model is integrated into a ready-to-use ROS navigation stack and the model?s behavior is thoroughly investigated while navigating through static obstacles populated scene in Gazebo environment. In this paper, we introduce an approximation of track-surface interaction of Engineer robot with modeled environment, and discuss the applicability of ROS-based ?G |
ru_RU |
dc.language.iso |
ru |
ru_RU |
dc.subject |
USAR |
ru_RU |
dc.subject |
ROS/Gazebo |
ru_RU |
dc.subject |
crawler robot modelling |
ru_RU |
dc.subject |
track simulation |
ru_RU |
dc.subject |
system integration. |
ru_RU |
dc.title |
Modelling a crawler-type UGV for urban search and rescue in Gazebo environment |
ru_RU |
dc.type |
Articles in international journals and collections |
ru_RU |
|