3D modelling and simulation of a crawler robot in ROS/Gazebo

dc.contributor.author	Sokolov M.
dc.contributor.author	Lavrenov R.
dc.contributor.author	Gabdullin A.
dc.contributor.author	Afanasyev I.
dc.contributor.author	Magid E.
dc.date.accessioned	2018-09-19T22:56:32Z
dc.date.available	2018-09-19T22:56:32Z
dc.date.issued	2016
dc.identifier.uri	https://dspace.kpfu.ru/xmlui/handle/net/145800
dc.description.abstract	1. Modelling and animation of crawler UGV's caterpillars is a complicated task, which has not been completely resolved in ROS/Gazebo simulators. In this paper, we proposed an approximation of track-terrain interaction of a crawler UGV, perform modelling and simulation of Russian crawler robot "Engineer" within ROS/Gazebo and visualize its motion in ROS/RViz software. Finally, we test the proposed model in heterogeneous robot group navigation scenario within uncertain Gazebo environment. Copyright is held by the owner/author(s). Publication rights licensed to ACM.
dc.subject	Crawler robot
dc.subject	Gazebo
dc.subject	Modeling
dc.subject	Path planning
dc.subject	Rescue robots
dc.subject	ROS
dc.subject	Rviz
dc.title	3D modelling and simulation of a crawler robot in ROS/Gazebo
dc.type	Conference Paper
dc.collection	Публикации сотрудников КФУ
dc.relation.startpage	61
dc.source.id	SCOPUS-2016-SID85016422674

Files in this item

Size: 43.60Kb

Format: PDF

Публикации сотрудников КФУ Scopus [24551]
Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.