Lokalni planer trajektorije bespilotne letjelice

master's thesis

• Title (english): Local trajectory planner for an aerial vehicle
• Author: Kata Pogačić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom diplomskom radu razmatraju se različiti algoritmi planiranja trajektorije bespilotne letjelice. Postoji više načina kojima se provodi planiranje trajektorije letjelice, a u ovom radu predstavljene su Minimum Snap metoda, TOPP-RA i TOPP algoritam. Navedeni algoritmi implentirani su u Robotskom operacijskom sustavu(ROS) i programskom okruženju Python, a simulacije na letjelici Arducopter izvedene su u Gazebo simulatoru. Analizira se na koji način navedeni algoritmi generiraju trajektorije za različite oblike referentnih trajektorija i različitim metodama procjene performansi trajektorije razmatra se koliko su pojedini algoritmi precizni
i brzi. Također se analizira kako primjena lokalnog planera utječe na kvalitetu i točnost dobivenih trajektorija.

Abstract (english)

In this master thesis we consider different algorithms for planning trajectory for an aerial vehicle.There are several ways to plan trajectory for an aerial vehicle but in this thesis Minimum Snap, TOPP-RA and TOPP algorithms are presented. Mentioned algorithms are implemented in the Robot Operating System (ROS) and in the Python programming environment. Simulations on the aerial vehicle Arducopter are performed in Gazebo simulator. It is analyzed how mentioned algorithms generate trajectories for different forms of referent trajectories and it is considered how algorithms are precise and fast using error-based quality metrics. It is also analyzed how local planner incluences the quality and the exactness of generated trajectories.

• Keywords: bespilotna letjelica; trajektorija; algoritmi generiranja trajektorije; lokalni planer; mjere performansi trajektorije
• Keywords (english): aerial vehicle; trajectory; algorithms for generating trajectory; local planner; error-based quality metrics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:462889
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 21:26:53