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

Abstract

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.

DOI: 10.1145/3029610.3029641

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Cite this paper

@inproceedings{Sokolov20163DMA, title={3D modelling and simulation of a crawler robot in ROS/Gazebo}, author={Maxim N Sokolov and Roman Lavrenov and Aidar Gabdullin and Ilya Afanasyev and Evgeni Magid}, booktitle={ICCMA}, year={2016} }