Tsunami post disaster robot: Simulation and implementation of aerial path planning to explore unknown environment

Post tsunami, the authorities still highly dependent on human labor in most of the search and rescue processes, while at the same time, the lives of the rescuers are also at stake and extremely crucial to avoid the further accident. Based on these conditions, the assistance of disaster robots is highly needed, which capable of operating in the unknown disaster area. This research presents an implementation of 2D local aerial path planning with obstacle avoidance for quadcopter as an aerial disaster robot. The research is divided into 2 different approaches, simulation, and prototype implementation. The simulation of aerial path planning algorithm utilized RViz 3D visualization tool for ROS Melodic Morenia on Ubuntu 18.04. The prototype quadcopter robot implementation combines the utilization of X-type frame mechanics, Pixhawk flight controller, DroneKit-Python software API, and VL53L0X Lidars as laser distance sensors facing in 5 sides around the quadcopter. In both approaches, laser distance sensor readings are processed into a histogram as basis data for the local path planning algorithm. Vector Field Histogram + algorithm is utilized to determine the path taken and obstacle avoidance maneuver. The research result targets are simulation and prototype implementation of the proposed aerial path planning algorithm. It is proven with the curving flight trajectory of the quadcopter when flying to the given waypoint while avoiding obstacles along the way. Different cost function adjustments of the aerial path planning algorithm resulted in different motion responses of the quadcopter robot while avoiding obstacles along the way to the given waypoint. The higher the safety distance and turning radius variables, the more responsive the motion of the quadcopter robot while avoiding obstacles and vice versa.