Saputra, Andreas Dhanu and Rusyadi, Rusman and Budiarto, Eka (2017) Path Planning Simulation For Quadcopter Using Gazebo Simulator. Bachelor thesis, Swiss German University.

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Abstract

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.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Simulation; Robot Operating System; Quadcopter; Gazebo; Flight Behavior
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	15 May 2020 08:35
Last Modified:	15 May 2020 08:35
URI:	http://repository.sgu.ac.id/id/eprint/383

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