Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robotcontrol system and tested in field experiments, e...
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ISBN:
(数字)9781728167855
ISBN:
(纸本)9781728167862
Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robotcontrol system and tested in field experiments, extensive virtual simulations should be performed in order to verify them carefully. This requires a proper modelling of a robot in a virtual environment, but a specific construction of crawler robot crawlers complicates the modelling. In this paper, in order to provide a high level of physical interaction similarity of a crawler with a supporting surface we model crawlers of mobile robot Servosila Engineer with a set of virtual wheels and study a relationship between a model complexity and a simulation performance. The model complexity is reflected by a number of virtual wheels that approximate each crawler of the robot. Verification experiments were performed in ROS/Gazebo simulator.
Many countries suffer from various natural disasters, including heavy rains, that are associated with further flood and landslide disasters. Based on our experiences of different disasters response, we develop a joint...
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Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot...
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