Upravljanje sustavom više bespilotnih letjelica

master's thesis

• Title (english): Control of multi-UAV system control
• Author: Marija Papić
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Đula Nađ (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-03-01, Croatia

Abstract

Ovaj rad istražuje korištenje sustava s više bespilotnih letjelica (UAV) kroz matematičko modeliranje, simulacije i analizu. Kroz precizno modeliranje pojedinačne letjelice i simulacije, potvrđena je valjanost matematičkog modela i pružen uvid u ponašanje letjelica. Nadalje, simulacija sustava s tri UAV letjelice demonstrirala je njihovu sposobnost suradnje i koordinacije, uz primjenu pravila izbjegavanja sudara i prepreka. Rezultati ukazuju na potencijal korištenja sustava s više UAV letjelica za postizanje složenih zadataka u različitim područjima, te na važnost matematičkog modeliranja i simulacija u razvoju takvih sustava.

Abstract (english)

This thesis explores the utilization of multi-unmanned aerial vehicle (UAV) systems through mathematical modeling, simulations, and analysis. By accurately modeling an individual UAV and conducting simulations, the validity of the mathematical model was confirmed, providing insights into the behavior of the vehicles. Furthermore, the simulation of a three-UAV system demonstrated their ability to collaborate and coordinate, employing collision avoidance and obstacle rules. The results indicate the potential of multi-UAV systems in accomplishing complex tasks across various domains, highlighting the significance of mathematical modeling and simulations in their development.

• Keywords: UAV; dron; višerobotski sustav; PID regulator; konsenzus; ROS; Gazebo
• Keywords (english): UAV; drone; multi-robot system; PID controller; consensus; ROS; Gazebo
• Language: croatian
• URN:NBN: urn:nbn:hr:168:835922
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-03-28 07:52:12