Modelling a crawler-type UGV for urban search and rescue in Gazebo environment

Sokolov, Maxim; Afanasyev, Ilya; Lavrenov, Roman; Sagitov, Artur; Sabirova, Leysan; Magid, Evgeni

doi:10.5954/icarob.2017.gs2-4

Cited by 14 publications

(6 citation statements)

References 6 publications

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“…The others are collision meshes, which were created using different options. The one in the center was created manually [11] and the one on right was generated automatically [23]. Table I presents a comparison of the two approaches.…”

Section: Collision Meshesmentioning

confidence: 99%

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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Simulation and virtual experiments are important stages of robotics research. Robotics simulators allow testing new hypothesis and algorithms without taking risks to destroy valuable hardware. Therefore, most of popular robots are sup-plied with simulation models from their makers or associated research groups. This tutorial paper describes a process of creating of a robot model for the Gazebo simulator starting from the model construction and physics setup, and ending up with sensors and Robot Operating System based control integration. The process is illustrated with an example of a step-by-step modelling of a crawler-type robot Servosila Engineer supplied with an open-source code via a public Gitlab repository.

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Section: Collision Meshesmentioning

confidence: 99%

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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“…Введение. Современные мобильные роботы призваны выполнять широкий спектр задач [1], включая такие виды деятельности как доставка грузов [2], картографирование окружающей среды и работа в опасных для человека условиях [3,4]. Мобильные роботы в большинстве случаев управляются удаленным оператором, который напрямую контролирует движение [5,6] и отслеживает состояние робота дистанционно, находясь в безопасности.…”

Section: Wheeled Robot Autonomous Return System At Remote Operator Communication Blackoutunclassified

Wheeled Robot Autonomous Return System at Remote Operator Communication Blackout

Bereznikov¹,

Zakiev²,

Magid³

2020

IZVESTIYA SFedU. ENGINEERING SCIENCES

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“…Only the V-REP simulator provides a reliable simulation of this type, and it has to be very finely tuned to work. Sokolov et al [2] tried to implement this method in Gazebo, but the reported results are quite unsatisfactory.…”

Section: A Precise Modelsmentioning

confidence: 99%

Fast simulation of vehicles with non-deformable tracks

Pecka

Zimmermann

Svoboda

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A comparison with several other methoddds for simulation of tracked vehicle dynamics is presented with the aim to evaluate methods that are available off-the-shelf or with minimum effort in general-purpose robotics simulators. The proposed method is implemented as a plugin for the open-source physics-based simulator Gazebo using the Open Dynamics Engine.

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Modelling a crawler-type UGV for urban search and rescue in Gazebo environment

Cited by 14 publications

References 6 publications

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

Wheeled Robot Autonomous Return System at Remote Operator Communication Blackout

Fast simulation of vehicles with non-deformable tracks

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