使用Gazebo模拟器的四旋翼3D路径规划

Mohammad Ryan Dirgantara, E. Budiarto, Rusman Rusyadi
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引用次数: 1

摘要

四旋翼飞行器是一种具有四个旋翼的无人驾驶飞行器,本文对四旋翼飞行器的三维路径规划进行了研究。使用机器人操作系统(ROS)和Gazebo软件对四旋翼飞行器进行了仿真,并配备了摄像头、GPS传感器和惯性测量单元(IMU)传感器来绘制其环境。在ros中使用的软件包有Hector Quadrotor软件包、操纵杆软件包、Octomap软件包和MoveIt软件包。这些包被修改,使其能够相互集成,以实现本研究的目的。对于三维路径规划,探索并实现了一种快速探索随机树(RRT)方法。通过对四旋翼飞行器的行为、映射和路径规划等方面的实验,找出了仿真的性能和局限性。该仿真的建立是为了在物理样机测试之前验证新设计的四旋翼飞行器。
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3D Path Planning for Quadrotor Using Gazebo Simulator
This research explores the 3D path planning for quadrotor, which is an unmannedaerial vehicle (UAV) with four rotors. The quadrotor is simulated using robot operating system(ROS) and Gazebo software, and is equipped with camera, GPS sensor, and inertialmeasurement unit (IMU) sensor to do the mapping of its environment. The packages used inROS are Hector Quadrotor package, joystick package, Octomap package, and MoveIt package.These packages were modified so that it could be integrated with each other and fulfill theobjective of this research. For the 3D path planning, a method called rapidly-exploring randomtree (RRT) is explored and implemented. Several experiments regarding the behavior of thequadrotor, the mapping, and the path planning were conducted to find out the performance andlimitations of the simulation. This simulation is set up so that it can be used to validate a newdesign of quadrotor before it is tested with a physical prototype.
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