KFU. Card publication. Automatic Generation of Random Step Environment Models for Gazebo Simulator

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

AUTOMATIC GENERATION OF RANDOM STEP ENVIRONMENT MODELS FOR GAZEBO SIMULATOR

Form of presentation

Articles in international journals and collections

Year of publication

2021

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Authors, students KFU

Gabdrakhmanov Ruslan Tagirovich, author

Bibliographic description in the original language

Gabdrahmanov R. Automatic Generation of Random Step Environment Models for Gazebo Simulator // Tsoy T., Bai Y., Svinin M., Magid E. // Lecture Notes in Networks and Systems. - 2021. - №324. - 408-420.

Annotation

Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments. This paper proposes a virtual RSE models' automatic generator LIRS-RSEGen for the Gazebo simulator. We analyzed typical for RSEs obstacles and structures, determined parameters that are required in order to generate a RSE and implemented a generator, which constructs RSE Gazebo worlds that could be further edited or directly used within the Gazebo. Constructed by our generator worlds were validated in the Gazebo using virtual models of TurtleBot3 wheeled robot and Servosila Engineer crawler robot.

Keywords

USAR, UGV, Modelling, Gazebo, Random step environment

The name of the journal

Lecture Notes in Networks and Systems

URL

https://link.springer.com/chapter/10.1007/978-3-030-86294-7_36

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

https://repository.kpfu.ru/eng/?p_id=256807&p_lang=2

Resource files

File name	Size (MB)	Format
2021_Automatic_Generation_of_Random_Step_Environment_Models_for_Gazebo_Simulator.pdf	1,71	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.contributor.author	Gabdrakhmanov Ruslan Tagirovich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Gabdrahmanov R. Automatic Generation of Random Step Environment Models for Gazebo Simulator // Tsoy T., Bai Y., Svinin M., Magid E. // Lecture Notes in Networks and Systems. - 2021. - №324. - 408-420.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=256807&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Networks and Systems	ru_RU
dc.description.abstract	Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments. This paper proposes a virtual RSE models' automatic generator LIRS-RSEGen for the Gazebo simulator. We analyzed typical for RSEs obstacles and structures, determined parameters that are required in order to generate a RSE and implemented a generator, which constructs RSE Gazebo worlds that could be further edited or directly used within the Gazebo. Constructed by our generator worlds were validated in the Gazebo using virtual models of TurtleBot3 wheeled robot and Servosila Engineer crawler robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	USAR	ru_RU
dc.subject	UGV	ru_RU
dc.subject	Modelling	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	Random step environment	ru_RU
dc.title	Automatic Generation of Random Step Environment Models for Gazebo Simulator	ru_RU
dc.type	Articles in international journals and collections	ru_RU