Generiranje putanje bespilotne letjelice za izbjegavanje prepreka u dinamički promjenjivim prostorima

undergraduate thesis

• Title (english): Dynamical obstacle avoidance path planning for an unmanned aerial vehicle
• Author: Matej Jularić
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Antun Ivanović (član povjerenstva)
• Committee member: Marko Car (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj ovoga rada je implementiranje algoritma za planiranje, replaniranje i generiranje putanje u svrhu izbjegavanja prepreka. Prilikom planiranja koristi se RRT* algoritma, a za replaniranje RRTConnect. Letjelicom se upravlja zadavanjem brzine, pozicije i orijentacije. Razmatraju se utjecaji upravljanja na točnost izvršavanja zadanje putanje i predlaže se način poboljšavanja točnosti bez mijenjanja strukture upravljanja. Testiranja su napravljenja u Gazebo simulatoru za model letjelice Firefly preuzete iz RotorS simulator paketa.

Abstract (english)

The aim of this thesis is to implement a planning, replanning and path generating algorithm. RRT* is used for path planning and RRTConnect for path replanning. The UAV is controled by feeding speed, position and orientation. Considering the effect of the control structure a method for improving the accuracy of path performing is proposed. Testing was conducted inside the Gazebo simulator for the Firefly model which was taken from the RotorS simulator package.

• Keywords: bespilotna letjelica; planiranje putanje; izbjegavanje prepreka
• Keywords (english): unmanned aerial vehicle; path planning; obstacle avoidance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:634130
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 21:17:10