کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6902472 | 1446640 | 2018 | 32 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Modelling and simulation of a non-holonomic omnidirectional mobile robot for offline programming and system performance analysis
ترجمه فارسی عنوان
مدل سازی و شبیه سازی یک ربات متحرک غیر انتزاعی غیرحرفه ای برای برنامه نویسی آفلاین و تجزیه و تحلیل عملکرد سیستم
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
علوم کامپیوتر (عمومی)
چکیده انگلیسی
This paper presents 3D modelling and simulation of a non-holonomic omnidirectional mobile robot, MARIO - Mobile Autonomous Rover for Intelligent Operations, using the Gazebo simulator and Robot Operating System (ROS), aiming for offline programming and system performance analysis. For this purpose, MARIO as a four wheel active driving/steering (4WD4S) platform has been modelled and simulated based on the physical developed model. Gazebo enables simulation of the world environment, physical model, sensors and control system through the Unified Robot Description Format (URDF) file. ROS is interfaced with Gazebo which allows utilization and implementation of different robotic software and tools on the simulated robot. This presented approach allows development, testing and validation of MARIO and required software before implementation on the real system. The presented approach also provides the essential theory and practice for robotic system specialists in modelling and simulation of ground mobile robotic systems using Gazebo simulator and ROS.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Simulation Modelling Practice and Theory - Volume 87, September 2018, Pages 155-169
Journal: Simulation Modelling Practice and Theory - Volume 87, September 2018, Pages 155-169
نویسندگان
Mostafa Sharifi, XiaoQi Chen, Christopher Pretty, Don Clucas, Erwan Cabon-Lunel,