Koreografija jata bespilotnih letjelica

undergraduate thesis

• Title (english): Choreography for a swarm of UAVs
• Author: Paola Glavić Sanković
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Ana Milas (član povjerenstva)
• Committee member: Marko Križmančić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Bespilotne letjelice se mogu koreografirati u svrhu nastupa na promocijama. Da bi sve prošlo bez problema, koreografija, osim zadavanja početnog i krajnjeg stanja, zahtjeva da ni u jednom trenutku ne dođe do sudaranje letjelica. U ovom radu primjenjuje se metoda unaprijednog planiranja trajektorija, koja uzima u obzir ograničenja na brzinu, prostor, akceleraciju i trzaj za svaku letjelicu. Osim tih ograničenja, definira se i minimalna potrebna udaljenost između svake dvije letjelice koja će osigurati nesudaranje. Koristeći tako zadana ograničenja, problem se opisuje kao optimizacijski problem te se uz pomoć sekvencionalnog konveksnog programiranja dolazi do rješenja. Optimizacijski problem rješavan je pomoću Gurobi programskog paketa i analizirana su rješenja za koreografije s do četiri letjelice.

Abstract (english)

Drones can be used to perform choreographies at events. In order for everything to go smoothly, the choreography, apart from setting the initial and final states, requires drones not to collide at any moment. This paper gives a solution to that problem by using an ahead-of-time trajectory planning method which requires setting constraints on speed, space, acceleration and jerk for each drone. In addition to these limitations, a minimum distance is also defined between every two drones, ensuring non-collision. Using such given constraints, the problem is described as an optimization problem and a solution is found with the help of sequential convex programming. The optimization problem was solved using the Gurobi software package and solutions with up to four drones were analyzed.

• Keywords: bespilotne letjelice; koreografije bespilotnih letjelica; generiranje trajektorija
• Keywords (english): UAVs; choreography of drones; trajectory generation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:037514
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:11:57