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ROS-Gazebo and MATLAB Simulations of a Multi-purpose Ground Vehicle

Published: 07 September 2021 Publication History

Abstract

In this document we discuss the modeling, results and comparisons of a four wheeled ground vehicle platform with Ackermann steering system that was implemented as a single-track vehicle model on MATLAB and as a 3D simulation on Gazebo-ROS. Detailed explanations about the simulated models, dimensions and physical properties about the models are included; furthermore, plots and 3D rendering are shown.

References

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Hanzhong Tao, Yu Fang, and Zhifeng Zhou. 2019. Research on Trajectory Planning of ROS-based Manipulator. In Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI 2019). Association for Computing Machinery, New York, NY, USA, 374–378.
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Thomas Witte and Matthias Tichy. 2018. Checking consistency of robot software architectures in ROS. In Proceedings of the 1st International Workshop on Robotics Software Engineering (RoSE '18). Association for Computing Machinery, New York, NY, USA, 1–8.
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Ali Ahmed, A. and Emheisen, M., 2019. Analysis of Vehicle Handling Using a Simple Track Model of Automobile. 2019 19th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), pp.130-133.
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Patrick Morley, Alex Warren, Ethan Rabb, Sean Whitsitt, Matt Bunting, and Jonathan Sprinkle. 2013. Generating a ROS/JAUS bridge for an autonomous ground vehicle. In Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM '13). Association for Computing Machinery, New York, NY, USA, 13–18.
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Hardeep Singh and Sunil Jha. 2019. Simulated Environment for Autonomous driving using ROS based on Mahindra E2O electric car. In Proceedings of the Advances in Robotics 2019 (AIR 2019). Association for Computing Machinery, New York, NY, USA, Article 57, 1–6.
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Nouh, A., Chami, M., Djerdir, A. and el Bagdouri, M., 2006. Modelling and Simulating Dynamic Vehicle with Component Hybrid Dynamic Nets. 2006 IEEE Vehicle Power and Propulsion Conference, pp.1-6.
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Osorio, D. 2020. DOsozOS/Vehicle-Dynamics-Model. GitHub. https://github.com/DOsozOS/Vehicle-Dynamics-Model.
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Nurhakim, A., Ismail, N., Saputra, H. and Uyun, S. 2018. Modified Fourth-Order Runge-Kutta Method Based on Trapezoid Approach. 2018 4th International Conference on Wireless and Telematics (ICWT), 1-5.
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YAO, K., WANG, Y., HOU, Z., AND ZHAO, X. Optimum design and calculation of Ackerman steering trapezium. In 2008 International Conference on Intelligent Computation Technology and Automation (ICICTA) (2008), vol. 1, pp. 1248–1252.
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Yao, W., Dai, W., Xiao, J., Lu, H. and Zheng, Z., 2015. A simulation system based on ROS and Gazebo for RoboCup Middle Size League. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.54-59.
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  • (2022)Sensor fusion for vehicle odometry and path tracking: a ROS simulation2022 International Symposium on Electromobility (ISEM)10.1109/ISEM55847.2022.9976548(1-6)Online publication date: 17-Oct-2022

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cover image ACM Other conferences
ICECC '21: Proceedings of the 4th International Conference on Electronics, Communications and Control Engineering
April 2021
122 pages
ISBN:9781450389129
DOI:10.1145/3462676
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 September 2021

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Author Tags

  1. AGV
  2. Ackermann Steering
  3. Gazebo
  4. PID
  5. ROS

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  • Research-article
  • Research
  • Refereed limited

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  • Consejo Nacional de Ciencia y Tecnología

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ICECC 2021

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  • (2022)Sensor fusion for vehicle odometry and path tracking: a ROS simulation2022 International Symposium on Electromobility (ISEM)10.1109/ISEM55847.2022.9976548(1-6)Online publication date: 17-Oct-2022

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