Kazan (Volga region) Federal University, KFU
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MODELLING A CRAWLER ROBOT USING WHEELS AS PSEUDO-TRACKS: MODEL COMPLEXITY VS PERFORMANCE
Form of presentationArticles in international journals and collections
Year of publication2020
Языканглийский
  • Lavrenov Roman Olegovich, author
  • Magid Evgeniy Arkadevich, author
  • Bibliographic description in the original language Moskvin I, Lavrenov R, Magid E, Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance//2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020. - 2020. - Vol., Is.. - P.1-5.
    Annotation 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.
    Keywords ROS, Gazebo, modelling, mobile robot, crawler robot, simulation performance, model complexity, virtual wheels
    The name of the journal 2020 IEEE 7th International Conference on Industrial Engineering and Applications, ICIEA 2020
    URL https://www.scopus.com/inward/record.uri?eid=2-s2.0-85086075443&doi=10.1109%2fICIEA49774.2020.9102110&partnerID=40&md5=66ad4e8d05e9ec18bb906b19c38fcb5d
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=234501&p_lang=2
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