Path planning simulation for quadcopter using gazebo simulator
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.
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