Algoritam upravljanja samorotirajućom letjelicom

undergraduate thesis

• Title (english): Control of a self-rotating aerial vehicle
• Author: Toni Vuković
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Dario Stuhne (član povjerenstva)
• Committee member: Jelena Vuletić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad obuhvaća razvoj algoritma za upravljanje samorotirajućom letjelicom, uključujući modeliranje, simulaciju i testiranje. Korištenjem CAD alata Autodesk Fusion kreiran je model letjelice „TAZ“, koji je implementiran u simulacijsko okruženje Gazebo uz pomoć ROS Noetic frameworka. RotorS plugin omogućio je simulaciju dinamičkih sila na rotore, dok je LiftDragPlugin simulirao aerodinamičke sile na krila. Algoritam upravljanja implementiran je u Python ROS node-u, omogućujući kontrolu vertikalnog i horizontalnog kretanja letjelice.

Abstract (english)

The paper encompasses the development of a control algorithm for a self-rotating aerial vehicle, including modeling, simulation, and testing. Using the CAD tool Autodesk Fusion, a model of the "TAZ" aircraft was created and implemented into the Gazebo simulation environment with the help of the ROS Noetic framework. The RotorS plugin enabled the simulation of dynamic forces on the rotors, while the LiftDragPlugin simulated aerodynamic forces on the wings. The control algorithm was implemented in a Python ROS node, allowing for control of the vertical and horizontal movement of the aircraft.

• Keywords: samorotirajuća letjelica; spincopter; modeliranje letjelice; Gazebo; ROS; RotorS plugin; LiftDragPlugin; aerodinamika; kontrola letjelice; algoritam upravljanje letjelicom
• Keywords (english): self-rotatin aerial vehicle; spincopter; aircraft modeling; Gazebo; ROS; RotorS plugin; LiftDragPlugin; aerodynamics; aircraft control; aircraft management algorithm
• Language: croatian
• URN:NBN: urn:nbn:hr:168:261739
• 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: 2024-10-12 22:30:33