Improving model of crawler robot Servosila "Engineer" for simulation in ROS/Gazebo

被引：4

作者：

Dobrokvashina, Alexandra ^{[1
]}

Lavrenov, Roman ^{[1
]}

Martinez-Garcia, Edgar A. ^{[2
]}

Bai, Yang ^{[3
]}

机构：

[1] ITIS Kazan Fed Univ, Intelligent Robot Dept, Lab Intelligent Robot Syst, Kazan, Russia

[2] Univ Autonoma Ciudad Juarez, Lab Robot, Inst Engn & Technol, Juarez, Mexico

[3] Ritsumeikan Univ, Informat Sci & Engn Dept, Kyoto, Japan

来源：

2020 13TH INTERNATIONAL CONFERENCE ON DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2020) | 2020年

基金：

俄罗斯基础研究基金会;

关键词：

crawler robot; modeling; track simulation; Servosila Engineer; Gazebo; ROS; urban search and rescue; USAR;

D O I：

10.1109/DeSE51703.2020.9450233

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Crawler robots are popular in tasks of urban search and rescue. Because of using tracks most of these robots have good traversability on rough terrains. For creating and testing these abilities and crawler robot itself often used simulators, which could help to reconstruct most of the conditions and environment without any difficulties. And this is a reason why most of the robots must have its simulation model. In this paper, we present a fully equipped and moving model of tracked robot Servosila "Engineer". It contains all of the sensors that used a real robot with the ability to get information from them via ROS topics through all the time of the simulation. Also, it has similar to real robot control elements, physic characteristics and useful crawler simulation.

引用

页码：212 / 217

页数：6

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