| Popis: |
The usage of a robotic simulator hasprovidedthe advantages of the efficientdevelopment and testing of robotics applications, saving time and resources and making easier publics demonstrations. This thesis project consists on the simulation of a wheel loader at an industrial environment inthe cycle of material handling. For the development of the Project have been used the Robot Operating System (ROS) and Gazebo frameworks which allows to reproduce the 3D map of the work site as well as the robotic wheel loaderand simulate it in a realistic way. The developed softwarealsoprovidesthemechanism to drive the wheel loader throughthereproduced terrain, to controlthe movement of the different articulated joints of the robot, to recompile information of the environmentthroughdifferent sensors (Laser, Odometry, GPS, IMU, etc) and to provide of a waypoint routes to the robot. Furthermore the simulator will be able to reproduce and integrate an asphalt plant modelto the scenario. Allowing an interaction with the wheel loader, this will transport gravel from the piles of the terrain to the pocket of the asphalt plant. |
