Journal of Materials and Mechatronics: A

Yazarlar: Yavuz Bahadır KOCA, Barış GÖKÇE, Yılmaz ASLAN

Konular:Mühendislik, Elektrik ve Elektronik, Robotik

Anahtar Kelimeler:ROS,Gazebo,Wheeled robot,Skid steer drive,Simulation,Velocity Control,Closed loop control

Özet: Robot simulators provide the ability to predict the performance of theoretical findings before applying them to real robots. In this study, 3D modeling and simulation is presented for a mobile robot with skid steer driving feature by using Gazebo simulator and Robot Operating System (ROS), which aims to analyze system performance in a mobile robot. In this context, a mobile robot with non-holonomic skid steer driving is designed, all physical and inertial properties are defined and simulated. Gazebo provides simulation of the robot world environment, physical model, sensors and control system via the Unified Robot Description Format (URDF) and parameterized robot component macro (XACRO) file. With this simulation, deficiencies that may occur before the real system application can be detected in the robot. In this way, it is possible to develop and test the necessary software. The presented approach contributes to the development of other mobile robotic systems, such as unmanned ground vehicles, thanks to the systematic structure modeled and simulated in a mobile driving robot with a Gazebo simulator and ROS program. It also enables various applications in this area. In this study, an evaluation is made by position control of a mobile robot with skid steer driving.

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