KFU. Card publication. Avrora Unior Car-like Robot in Gazebo Environment

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

AVRORA UNIOR CAR-LIKE ROBOT IN GAZEBO ENVIRONMENT

Form of presentation

Articles in international journals and collections

Year of publication

2019

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Shabalina Kseniya Sergeevna, author

Authors, postgraduates KFU

Sagitov Artur Gazizovich, postgraduate kfu

Authors, students KFU

Shabalina Kseniya Sergeevna, author

Bibliographic description in the original language

Shabalina K., Sagitov A., Su K.L., Hsia K.-H., Magid E. Avrora Unior Car-like Robot in Gazebo Environment // International Conference on Artificial Life and Robotics (ICAROB 2019) (Oita, Japan; 10-12 January 2019) - p. 116-119.

Annotation

Experiments are valuable tool of robust control algorithms design, but experiments tend to be expensive. In order to conduct thousands of complex experiments with autonomous car navigation algorithms it is safer and cheaper to start algorithm verification within a simulation, relying on a proper robot model, which preserves physical properties of underlying objects. In this paper we present the design of Avrora Unior mobile robot model, which is a Russian car-like robot with Ackermann steering geometry, and describe the process of modeling its kinematics and dynamics. Robot model was designed within open source robotics framework ROS for Gazebo simulator.

Keywords

car-like robot; non-holonomic robot; simulation; Avrora Unior; Gazebo; ROS

The name of the journal

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS

URL

https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS18/OS18-1.pdf

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

https://repository.kpfu.ru/eng/?p_id=196697&p_lang=2

Resource files

File name	Size (MB)	Format
F_2019_Avrora_Unior_Car_like_Robot_in_Gazebo_Environment..pdf	0,61	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.contributor.author	Shabalina Kseniya Sergeevna	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Shabalina K., Sagitov A., Su K.L., Hsia K.-H., Magid E. Avrora Unior Car-like Robot in Gazebo Environment // International Conference on Artificial Life and Robotics (ICAROB 2019) (Oita, Japan; 10-12 January 2019) - p. 116-119.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=196697&p_lang=2	ru_RU
dc.description.abstract	ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS	ru_RU
dc.description.abstract	Experiments are valuable tool of robust control algorithms design, but experiments tend to be expensive. In order to conduct thousands of complex experiments with autonomous car navigation algorithms it is safer and cheaper to start algorithm verification within a simulation, relying on a proper robot model, which preserves physical properties of underlying objects. In this paper we present the design of Avrora Unior mobile robot model, which is a Russian car-like robot with Ackermann steering geometry, and describe the process of modeling its kinematics and dynamics. Robot model was designed within open source robotics framework ROS for Gazebo simulator.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject		ru_RU
dc.title	Avrora Unior Car-like Robot in Gazebo Environment	ru_RU
dc.type	Articles in international journals and collections	ru_RU