Path planning of a hexarotor unmanned aerial vehicle

• Main Author: Heng, Wee Ping
• Other Authors: Wang Jianliang
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/67857
• Institution: Nanyang Technological University

As Unmanned Aerial Vehicle (UAV) become more prevalent, there is a growing interest in developing an autonomous UAV. An autonomous UAV is able to perform tasks that might be dangerous or very inconvenient for a human to be doing. In order for the UAV to be able to perform these tasks, it need to first be able to reach the place at which the task is being performed. This project aims to develop a Path Finding Algorithm that will enable a UAV to fly to a designated coordinate by a human operator autonomously. Due to the modular nature of the UAV, the algorithm is being developed on Robotics Operating System (ROS) in order to facilitate easy integration between different components and software. The Path Finding Algorithm obstacle avoidance is based on the Potential Field Method in order for the best result as the UAV will need to avoid obstacle dynamically in order to avoid any fast moving obstacle. The simulation of the Path Finding Algorithm is done on the Turtlebot simulator, Turtlesim.