Dirgantara, Mohammad Ryan and Budiarto, Eka and Rusyadi, Rusman (2018) Validating The Mathematical Modelling On The Hector Quadrotor In ROS And Creating The 3D Path Planning Simulation Using Gazebo Simulator. Bachelor thesis, Swiss German University.

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Abstract

The main objectives of this is research is to improve the previous quadrotor simulation created by Andreas Dhanu Saputra for his thesis project in 2017 titled Path Planning Simulation for Quadcopter using Gazebo Simulator. This thesis will explore the mathematical modeling used for the simulated quadrotor so user can freely change the parameter thus they can use their own design for the simulation. The path planning will also be improved by making it into a 3 dimension simulation where in the previous simulator it is only limited to 2 dimension. Robot Operating system (ROS) and Gazebo software will be used in this research to design and simulate the quadrotor. The packages used in ROS are Hector Quadrotor package, joystick package, octomap package, and moveit package. These packages were slightly modified so that it would integrate with each other and fulfill the objective of this thesis. Several experiment regarding the behaviour of the quadcopter, the mapping, and the path planning were conducted to validate the thesis.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Quadrotor; Quadcopter; Hector Quadrotor; MoveIt!; Octomap
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TS Manufactures > TS171 Product design > TS171.8 Three-dimensional printing
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	09 Nov 2020 11:21
Last Modified:	09 Nov 2020 11:21
URI:	http://repository.sgu.ac.id/id/eprint/842

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