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http://dx.doi.org/10.9709/JKSS.2019.28.2.149

Modeling & Simulation Framework for the Efficient Development of a Rescue Robot  

Park, Gyuhyun (Agency for Defense Development)
Publication Information
Journal of the Korea Society for Simulation / v.28, no.2, 2019 , pp. 149-158 More about this Journal
Abstract
This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.
Keywords
Rescue Robot; SILS; Integrated M&S; Mobility Stabilization; GAZEBO;
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Times Cited By KSCI : 1  (Citation Analysis)
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