Geometrijsko upravljanje višerotorskom letjelicom u simulacijskom okruženju Gazebo

undergraduate thesis

• Title (english): Geometric control of a multirotor aircraft in the Gazebo simulation environment
• Author: Leticija Crnković
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Filip Zorić (član povjerenstva)
• Committee member: Bruno Marić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Cilj projekta bio je izučavanje dinamike kvadrotora i kontrolera za upravljanje kvadrotorskim letjelicama te implementacija geometrijskog kontrolera za model kvadrotorske bespilotne letjelice. Rad kontrolera vizualno je prikazan u simula- cijsom okruženju Gazebo. Programski kod pisan je u Pythonu te je za izvedbu korišten ROS (Robot operating system). Programska implementacija kontrolera uključuje korištenje ROS-ovih alata, biblioteka te pluginova za Gazebo koji služe za simulirano prikazivanje rada kontrolera i kretanja letjelice.

Abstract (english)

The goal of the project was to study the dynamics of the quadrotor and the controller for controlling the quadrotor aircraft and the implementation of the geometric controller for the model of the quadrotor drone. The operation of the controller is visually shown in the Gazebo simulation environment. The program code was written in Python and ROS (Robot operating system) was used for execution. The software implementation of the controller includes the use of ROS tools, libraries and plugins for Gazebo, which serve to simulate the operation of the controller and the movement of the aircraft.

• Keywords: kvadrotor; geometrijsko upravljanje kvadrotorom; dinamika kvadrotora
• Keywords (english): quadrotor; quadrotor dynamics; geometric control of UAV
• Language: croatian
• URN:NBN: urn:nbn:hr:168:702238
• 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: 2023-10-11 08:36:52