Upravljanje formacijom autonomnih bespilotnih plovnih platformi

master's thesis

• Title (english): Formation control of autonomous unmanned marine platforms
• Author: Ivan Lončar
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U sklopu "subCULTron" projekta razvijeno je pet autonomnih bespilotnih plovnih platformi koje imaju funkciju autonomne mreže za nadzor podmorja. Kako bi uspješno izvršavale svoju zadaću, autonomne platforme moraju se moći autonomno gibati na moru, održavajući željenu formaciju. U ovom radu je opisan sustav upravljanja formacijom platforme. Za promatrani sustav, projektirani su algoritam za upravljanje formacijom na bazi postizanja konsenzusa, te algoritam za izbjegavanje kolizija u programskom alatu ROS. Eksperimentalna mjerenja su provedena u simulaciji na računalu i na stvarnom sustavu.

Abstract (english)

Within project "subCULTron", five autonomous unmanned surface platforms were developed. Their envisioned function is longterm monitoring of underwater eco-systems. In order to fulfill that function, network of platforms must be able to move autonomously while maintaining desired formation. This thesis describes platform formation control system. For observed system, consensus-based formation control and collision avoidance algorithm is designed. Designed algorithms implemented in ROS writen in C++. Experimental measurements were conducted in simulation on a computer, and on a real system.

• Keywords: aPad; formacija; konsenzus; ROS; izbjegavanje kolizija; virtualna sila
• Keywords (english): aPad; formation; consensus; ROS; collision avoidance; virtual force
• Language: croatian
• URN:NBN: urn:nbn:hr:168:944691
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 10:09:34