KFU. Card publication. Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance

KAZAN
FEDERAL UNIVERSITY

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MODELLING A CRAWLER ROBOT USING WHEELS AS PSEUDO-TRACKS: MODEL COMPLEXITY VS PERFORMANCE

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2020

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Authors, students KFU

Moskvin Ilya Sergeevich, author

Bibliographic description in the original language

Moskvin I., Lavrenov R., Magid E., Svinin M. Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance // IEEE 7th International Conference on Industrial Engineering and Applications (ICIEA 2020) (Bangkok, Thailand; 16-18 April 2020. Phuket, Thailand; 19-21 April 2020) - p. 235-239.

Annotation

IEEE 7th International Conference on Industrial Engineering and Applications (ICIEA 2020)

Keywords

ROS, Gazebo, modelling, mobile robot, crawler robot, simulation performance, model complexity, virtual wheels

The name of the journal

IEEE 7th International Conference on Industrial Engineering and Applications (ICIEA 2020)

URL

https://ieeexplore.ieee.org/abstract/document/9102110

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

https://repository.kpfu.ru/eng/?p_id=234501&p_lang=2

Resource files

File name	Size (MB)	Format
F_ICIEA_IEEE_final.pdf	2,81	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	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., Magid E., Svinin M. Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance // IEEE 7th International Conference on Industrial Engineering and Applications (ICIEA 2020) (Bangkok, Thailand; 16-18 April 2020. Phuket, Thailand; 19-21 April 2020) - p. 235-239.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=234501&p_lang=2	ru_RU
dc.description.abstract	IEEE 7th International Conference on Industrial Engineering and Applications (ICIEA 2020)	ru_RU
dc.description.abstract	Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robot control system and tested in field experiments, extensive virtual simulations should be performed in order to verify them carefully. This requires a proper modelling of a robot in a virtual environment, but a specific construction of crawler robot crawlers complicates the modelling. In this paper, in order to provide a high level of physical interaction similarity of a crawler with a supporting surface we model crawlers of mobile robot Servosila Engineer with a set of virtual wheels and study a relationship between a model complexity and a simulation performance. The model complexity is reflected by a number of virtual wheels that approximate each crawler of the robot. Verification experiments were performed in ROS/Gazebo simulator.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	modelling	ru_RU
dc.subject	mobile robot	ru_RU
dc.subject	crawler robot	ru_RU
dc.subject	simulation performance	ru_RU
dc.subject	model complexity	ru_RU
dc.subject	virtual wheels	ru_RU
dc.title	Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU