Abstract

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

Highlights

  • Crawler-type unmanned ground vehicles (UGVs) are targeting for urban and rescue operations, especially in situations where a urban search and rescue (USAR) mission deals with dangerous environments and high risk of rescuers’ injury or life loss[1,2]

  • Customers can use only a client-server system to control the robot in a simple teleoperation mode, and our main purpose is to create a robot control software based on robot operating system (ROS) framework

  • To test workability of the robot’s 3D model, it is exported into a ready-to-use navigation stack that was previously described by the authors[8], supporting point-to-point navigation in ROS/Gazebo/RViz simulation

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Summary

Introduction

Crawler-type unmanned ground vehicles (UGVs) are targeting for urban and rescue operations, especially in situations where a USAR mission deals with dangerous environments and high risk of rescuers’ injury or life loss (e.g. buildings with high collapse probability, ruins after technogenic and natural disasters, etc.)[1,2]. There are a number of papers, which dealt with track-type robots, considering crawler belt motion simulation[2] and mathematical modelling[3], track-surface interaction[4] or a simplified approach of contact point estimation in artificial[5,6] and natural environments[7] etc. Original Engineer robot system does not contain any operator oriented robotics software. ROS and Gazebo integration allows simulating Engineer robot in 3D environment, implementing navigation algorithms and providing comfortable and fast synchronization between the 3D model and the robot. To test workability of the robot’s 3D model, it is exported into a ready-to-use navigation stack that was previously described by the authors[8], supporting point-to-point navigation in ROS/Gazebo/RViz simulation.

Robot system setup
Modelling in ROS
Track simulation
Conclusions and future plans
Full Text
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