Modelling and simulation of a non-holonomic omnidirectional mobile robot for offline programming and system performance analysis

被引：12

作者：

Sharifi, Mostafa ^{[1
]}

Chen, XiaoQi ^{[1
]}

Pretty, Christopher ^{[1
]}

Clucas, Don ^{[1
]}

Cabon-Lunel, Erwan ^{[2
]}

机构：

[1] Univ Canterbury, Dept Mech Engn, Christchurch 8041, New Zealand

[2] Ecole Natl Super Tech, F-91120 Paris, France

来源：

SIMULATION MODELLING PRACTICE AND THEORY | 2018年 / 87卷

关键词：

Gazebo simulator; ROS; Wheeled mobile robot; 3D simulation; Kinematic modelling; State estimation;

D O I：

10.1016/j.simpat.2018.06.005

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

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.

引用

页码：155 / 169

页数：15

共 50 条

[21] Analogical gates as supervisory and direct controllers for a non-holonomic mobile robot
Badreddin, E
FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 1763 - 1769
[22] Indoor navigation of a non-holonomic mobile robot using a visual memory
Courbon, Jonathan
Mezouar, Youcef
Martinet, Philippe
AUTONOMOUS ROBOTS, 2008, 25 (03) : 253 - 266
[23] Formation Control of Non-Holonomic Wheeled Mobile Robot in Finite Time
Qiao, Lei
Li, Zonggang
Du, Yajiang
Computer Engineering and Applications, 2023, 59 (13) : 74 - 81
[24] RRT-A* Motion Planning Algorithm for Non-holonomic Mobile Robot
Li, Jiadong
Liu, Shirong
Zhang, Botao
Zhao, Xiaodan
2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 2014, : 1833 - 1838
[25] A Passivity Based System Design for Non-Holonomic Mobile Robot in presence of Delay and Traffic Disturbances
Shukla, Santosh
Singh, Pachnini
Behera, Laxmidhar
PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2017, : 733 - 738
[26] Analysis of the motion of a non-holonomic mechanical system
Zekovic, D. N.
PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS, 2008, 72 (05): : 519 - 523
[27] Non-holonomic navigation system of a walking-aid robot
Wandosell, JMH
Graf, B
IEEE ROMAN 2002, PROCEEDINGS, 2002, : 518 - 523
[28] Analysis of the motion of a non-holonomic mechanical system
Zekovic, D.N.
Journal of Applied Mathematics and Mechanics, 2008, 72 (05): : 519 - 523
[29] Path tracking control of non-holonomic wheeled mobile robot with skidding and slipping
Koubaa, Yasmine
Boukattaya, Mohamed
Damak, Tarak
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2016, 26 (03) : 218 - 226
[30] A Hybrid Reactive Navigation Strategy for a Non-holonomic Mobile Robot in Cluttered Environments
Zhang, Jian
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 3839 - 3844

← 1 2 3 4 5 →