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Modeling tracks and controller for servosila engineer robot

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dc.contributor.author Moskvin I.
dc.contributor.author Lavrenov R.
dc.date.accessioned 2021-02-25T06:55:24Z
dc.date.available 2021-02-25T06:55:24Z
dc.date.issued 2020
dc.identifier.issn 2190-3018
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/161541
dc.description.abstract © Springer Nature Singapore Pte Ltd 2020. Modeling is an important part of solving any problem in robotics. Models let our opportunity to make mistakes that could break real robot and learn on these mistakes causing no damage to the robot. This paper presents a creation of model for crawler robot “Servosila Engineer.” In this model, tracks were replaced by big count of small wheels to get construction physically close to the track but with simple realization for simulation. To test efficiency of model was created three groups of controllers: for ground tracks wheels, flippers and flippers tracks wheels. This model takes into account mistakes made creating previous version and has opportunity to be used in teleoperation mode. To create controller, we tried some base types of controllers represented by Gazebo plugin. Created model and controller are integrated with Gazebo simulation system and ROS framework and will be used in our future researches.
dc.relation.ispartofseries Smart Innovation, Systems and Technologies
dc.subject Crawler robot
dc.subject Gazebo
dc.subject Mobile robot
dc.subject Modeling
dc.subject ROS
dc.subject Servosila Engineer
dc.subject Tracked robot
dc.title Modeling tracks and controller for servosila engineer robot
dc.type Conference Paper
dc.relation.ispartofseries-volume 154
dc.collection Публикации сотрудников КФУ
dc.relation.startpage 411
dc.source.id SCOPUS21903018-2020-154-SID85072878659

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

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