KFU. Card publication. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

MODELLING A CRAWLER-TYPE UGV FOR URBAN SEARCH AND RESCUE IN GAZEBO ENVIRONMENT

Form of presentation

Articles in international journals and collections

Year of publication

2017

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Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Sabirova Leysan Nailevna, author

Sagitov Artur Gazizovich, author

Bibliographic description in the original language

Sokolov M., Afanasyev I., Lavrenov R., Sagitov A., Sabirova L., & Magid E. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment // ICAROB 2017: International Conference on Artificial Life and Robotics (Miyazaki, Japan; 19-22 January 2017) - p. 360-363.

Annotation

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 “Gazebo-tracks” package for robust robot locomotion.

Keywords

Mobile robot, modelling, crawler rorbot, Gazebo, ROS

The name of the journal

ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS

URL

https://www.semanticscholar.org/paper/Modelling-a-crawler-type-UGV-for-urban-search-and-Sokolov-Afanasyev/9dbc830fc9b8e85b8c84a2d993d40fa947e005ca

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

https://repository.kpfu.ru/eng/?p_id=214505&p_lang=2

Resource files

File name	Size (MB)	Format
GS2_4.pdf	0,23	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sabirova Leysan Nailevna	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	Sokolov M., Afanasyev I., Lavrenov R., Sagitov A., Sabirova L., & Magid E. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment // ICAROB 2017: International Conference on Artificial Life and Robotics (Miyazaki, Japan; 19-22 January 2017) - p. 360-363.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=214505&p_lang=2	ru_RU
dc.description.abstract	ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS	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 “Gazebo-tracks” package for robust robot locomotion.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Mobile robot	ru_RU
dc.subject	modelling	ru_RU
dc.subject	crawler rorbot	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	ROS	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