title: ÐÐ¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ±Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½Ð° Ð±Ð°Ð·Ðµ Robot Operating System Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Modification of a virtual training model of a robot with a control system based on the Robot Operating System using automatic construction of a terrain map
Creators: name: ÐÐ¶ÑÐ¶ÑÐµÐ², Ð­Ð´ÑÐ°ÑÐ´
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÑÑ
ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ°
Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð±Ð¾ÑÐ°
ros
rviz
auto mapping
robot simulation
virtual robot model
wheeled robot

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«ÐÐ¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ±Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½Ð° Ð±Ð°Ð·Ðµ Robot Operating System Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸Â»ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÑÐµÑ ÑÐ¾Ð±Ð¾Ð¹ Ð¼Ð¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ñ Ð´Ð¾Ð±Ð°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼ Ñ Ð½ÐµÐ¼Ñ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»Ð°, Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐµÐ³Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸ ÑÑÑÐ¾Ð¸ÑÑ ÐºÐ°ÑÑÑ. ÐÑÐ¾ÐµÐºÑ Ð±ÑÐ´ÐµÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°ÑÑÑÑ Ð² ÑÑÐµÐ±Ð½Ð¾Ð¼ ÐºÑÑÑÐµ, Ð½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¼ Ð½Ð° Ð¸Ð·ÑÑÐµÐ½Ð¸Ðµ Ð²ÑÑÑÐ°Ð¸Ð²Ð°ÐµÐ¼ÑÑ ÑÐ¸ÑÑÐµÐ¼ Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ¸ ÐºÐ°Ðº ÑÐ°ÑÑÑ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÐºÑÑÑÐ°.ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ:ÐÐ·ÑÑÐµÐ½Ð¸Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¹ Ð¼Ð¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¸;ÐÐ¾Ð´Ð¸ÑÐ¸ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð½Ð° ÑÐ·ÑÐºÐµ URDF Ð´Ð»Ñ ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸;Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ¾Ð»ÐµÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼ Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ ROS;ÐÐµÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° Gazebo Ð¸ Ð¿Ð°ÐºÐµÑÐ° Rviz;Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¼Ð¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ð¸ Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐµÐ¹. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð½Ð° 2-Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÐºÐ°ÑÑÐ°Ñ Ð¸ Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ¶Ð´ÐµÐ½Ð¾ ÐºÐ¾ÑÑÐµÐºÑÐ½Ð¾Ðµ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸.
description: The theme of the graduation qualifying paper: "Modification of a virtual training model of a robot with a control system based on the Robot Operating System using automatic construction of a terrain map"This project is a modification of the virtual model of the robot with the addition of functionality that allows it to use auto mapping. This project will be used in a training course aimed at studying embedded systems and robotics as part of a practical course.Tasks that were solved during the work:Studying the work of modules for constructing maps of the area for further modification;Modification of the description of the model in the URDF language to match the solution of the problem;Development of an automatic control system for a wheeled robot using ROS;Verification of the obtained results using the Gazebo simulator and the Rviz package;As a result, the robot model was modified in accordance with the task. Project was tested on 2 different maps and the correct functioning of the model was confirmed.