Planiranje trajektorije za presretanje objekta u 3D prostoru

undergraduate thesis

• Title (english): Trajectory planning for an object interception in 3D space
• Author: Matea Španić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Ivan Hrabar (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome se radu obrad¯uje problem planiranja trajektorije za presretanje bespilotne letjelice.
Gibanje letjelice putanjom oblika lemniskate simulirano je generiranjem toˇcaka
u 3D prostoru. Parametri trajektorije i brzina letjelice estimiraju se u lokalnom koordinatnom
sustavu lemniskate pa je prikazan naˇcin transformacije koordinata iz globalnog
u lokalni koordinatni sustav. Na temelju previd¯anja buduc´ih položaja letjelice razvijen
je algoritam koji izraˇcunava toˇcku presretanja. Letjelice i razvijeni algoritmi implementirani
su u simulacijskom okruženju Gazebo te su prikazane komponente sustava
presretanja i njihova med¯usobna komunikacija. Naposljetku, prac´eni su i analizirani i
simulacije.

Abstract (english)

This thesis is concerned with the problem of calculating a trajectory to intercept an
unmanned aerial vehicle. Movement of the vehicle to be intercepted is simulated as a
lemniscate curve in a three-dimensional space. Trajectory parameters and the vehicle
speed are estimated in the local coordinate system of the lemniscate curve. As a result,
a transformation to a global system is provided. Furthermore, an algorithm to calculate
an intercepting point was developed, taking into account future position projections
of the vehicle. Simulation environment Gazebo is used to demonstrate intermediary
communication of the interception system components. Finally, simulation results are
aggregated and analyzed.

• Keywords: bespilotna letjelica; lemniskata; trajektorija; predvidanje položaja; presretanje
• Keywords (english): unmanned aerial vehicle; lemniscate; trajectory; position predicting; interception
• Language: croatian
• URN:NBN: urn:nbn:hr:168:301491
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 22:30:53