Path planning simulation for quadcopter using gazebo simulator

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Path planning simulation for quadcopter using gazebo simulator

Saputra, Andreas Dhanu - Personal Name; Rusyadi, Rusman - Personal Name; Budiarto, Eka - Personal Name;

The purpose of this thesis is to create a quadcopter simulation that able to do path planning operation. Robot Operating System (ROS) and Gazebo software are used to design and simulate the behavior of quadcopter. Standard ROS packages such as hector quadrotor package, joystick package, mapping package, and navigation package are modified and applied to the system as the foundation of this thesis work program. Odometry sensor for localization purposes use 3D Position Interface for Ground Truth (P3D) plugin inside Gazebo and laser scan sensor. Experiments to test the movement behavior, mapping quality, and path planning performance are conducted and reported in this thesis. The result shows that the simulation is able to simulate quadcopter flight behavior and path planning algorithm accordingly. This free simulator is fit for educational purposes because it is free and has vast programming library.

Availability

B02422 2422 (Rack Thesis) Available

Detail Information

Series Title: -
Call Number: 2422
Publisher: mou : Swiss German University., 2017
Collation: -
Language: English
ISBN/ISSN: -
Classification: 2422
Content Type: -
Media Type: -
Carrier Type: -
Edition: -
Subject(s): MT
Robot operating system
Simulation
Quadcopter
Gazebo
flight behavior
Specific Detail Info: -
Statement of Responsibility: -

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