Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju

master's thesis

• Title (english): Motion planning of mobile robots based on model predictive control
• Author: Luka Markovinović
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U diplomskom radu je proučena teoretska pozadina MPC kontrolera te njegovo korištenje za praćenje putanje na primjeru diferencijalnog mobilnog robotskog sustava. Također, konveksna dekompozicija slobodnog prostora je uključena u optimizacijski problem za sigurnosna ograničenja gibanja robota. Objašnjeni su pojedini djelovi optimizacijskog problema te su komentirani parametri i optimizacijske težine dobivene testiranjem u simulatoru. Na poslijetku, prikazani su rezultati testiranja u simulatoru gdje je MPC kontroler uspoređen s modificiranim PP kontrolerom. Za implementaciju kontrolera korištena je biblioteka otvorenog koda ACADO. Algoritam je implementiran u C++ programskom jeziku kao ROS paket za korištenje s move_base paketom za navigaciju.

Abstract (english)

This master's thesis explores the theoretical background of the MPC controller and its use for path following for implementation on a differential mobile robot. For the safety constraints of the robot, convex decomposition of free space was incorporated into the optimization problem. Components of the optimization problem were explained, as well as the optimization weights and controller parameters. Finally, the results of simulation testing were presented and a comparison between the MPC and PP controller was given. For the controller implementation, open source toolkit ACADO was used. The algorithm was implemented in C++ programming language as a ROS package for usage with the move_base package for navigation.

• Keywords: navigacija; ROS; mobilna robotika; MPC planer; upravljanje; praćenje puta; konveksna dekompozicija slobodnog prostora
• Keywords (english): navigation; ROS; mobile robotics; MPC planner; control; path following; convex free space decomposition
• Language: croatian
• URN:NBN: urn:nbn:hr:168:100021
• 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: 2023-01-14 09:27:22