KFU. Card publication. Modeling tracks and controller for servosila engineer robot

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

MODELING TRACKS AND CONTROLLER FOR SERVOSILA ENGINEER ROBOT

Form of presentation

Articles in international journals and collections

Year of publication

2020

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Authors, students KFU

Moskvin Ilya Sergeevich, author

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

File name	Size (MB)	Format
F_ZCh_2019_MSK_ROM.pdf	0,46	pdf	show / download

Full metadata record

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