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Avrora Unior Car-like Robot in Gazebo Environment
Ch. OS4-3. P. 116–119.
Experiments are valuable tool of robust control algorithms design, but experiments tend to be expensive. In order to conduct thousands of complex experiments with autonomous car navigation algorithms it is safer and cheaper to start algorithm verification within a simulation, relying on a proper robot model, which preserves physical properties of underlying objects. In this paper we present the design of Avrora Unior mobile robot model, which is a Russian car-like robot with Ackermann steering geometry, and describe the process of modeling its kinematics and dynamics. Robot model was designed within open source robotics framework ROS for Gazebo simulator
In book
ALife Robotics Corporation Ltd., 2019.