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master's thesis
Razvoj drona upravljanog od strane Robotskog operacijskog sustava
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2024. urn:nbn:hr:200:949420
Križanac, Karla
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Cite this document

Križanac, K. (2024). Razvoj drona upravljanog od strane Robotskog operacijskog sustava (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:949420

Križanac, Karla. "Razvoj drona upravljanog od strane Robotskog operacijskog sustava." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2024. https://urn.nsk.hr/urn:nbn:hr:200:949420

Križanac, Karla. "Razvoj drona upravljanog od strane Robotskog operacijskog sustava." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2024. https://urn.nsk.hr/urn:nbn:hr:200:949420

Križanac, K. (2024). 'Razvoj drona upravljanog od strane Robotskog operacijskog sustava', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 27 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:949420

Križanac K. Razvoj drona upravljanog od strane Robotskog operacijskog sustava [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2024 [cited 2024 November 27] Available at: https://urn.nsk.hr/urn:nbn:hr:200:949420

K. Križanac, "Razvoj drona upravljanog od strane Robotskog operacijskog sustava", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:200:949420

Metadata
TitleRazvoj drona upravljanog od strane Robotskog operacijskog sustava
Title (english)Development of a drone operated by the ROS
AuthorKarla Križanac
MentorDamir Filko (mentor)
Committee memberDamir Filko (predsjednik povjerenstva)
Committee memberRobert Cupec (član povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2024-10-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
Ovaj diplomski rad prikazuje dizajn, implementaciju i razvoj drona opremljenog kamerom, sposobnog za manualno i autonomno upravljanje putem Robotskog Operaijskog Sustava (ROS). Cilj je dokumentirati cijeli proces izrade drona, od integracije hardverskih komponenti do kreiranja robusne softverske arhitekture koja omogućava stabilan let, prikupljanje podataka i izvršavanje autonomnih misija. Početna faza uključuje konfiguraciju drona za ručno upravljanje pomoću Mission Planner softvera za zemaljsku kontrolu dizajniranog za konfiguraciju i operativno upravljanje dronovima baziranim na Ardupilotu. Nakon toga, sustav se proširuje kako bi omogućio autonomni let, pri čemu Raspberry Pi služi kao pomoćno računalo koje komunicira s kontrolerom leta. S ugrađenom kamerom, dron može snimati fotografije i videozapise tijekom autonomnih zadataka, što ga čini idealnim za primjene poput nadzora. Poseban naglasak stavljen je na neometanu integraciju softverskih komponenti potrebnih za autonomnost, pri čemu ROS upravlja komunikacijom između različitih podsustava kako bi osigurao preciznu kontrolu visine, položaja i putanje leta drona. U radu su također detaljno opisani ključni koraci poput kalibracije senzora, podešavanja sustava i evaluacije performansi. U konačnici, ovaj rad pruža sveobuhvatan vodič za razvoj i programiranje drona, s posebnim naglaskom na postizanje autonomne funkcionalnosti putem ROS-a te integraciju kamere za snimanje medijskih sadržaja.
Abstract (english)
This thesis presents the design, implementation, and development of a drone equipped with a camera, capable of both manual and autonomous operation via the Robot Operating System (ROS). The objective is to document the entire process of constructing the drone, from hardware integration to the creation of a robust software architecture that facilitates stable flight, data collection, and the execution of autonomous missions. The initial phase involves configuring the drone for manual control using Mission Planner, a ground control software designed for configuring and operating ArduPilot-based drones. Following this, the system is extended to enable autonomous flight, where a Raspberry Pi serves as a companion computer, interfacing with the flight controller. With its onboard camera, the drone can capture photos and videos during autonomous tasks, making it ideal for surveillance applications. A key focus is placed on the seamless integration of software components required for autonomy, with ROS managing communication between the various subsystems to ensure precise control over the drone’s altitude, position, and flight trajectory. The thesis also details critical steps such as sensor calibration, system tuning, and performance evaluation. Ultimately, this work provides a comprehensive guide to the development and programming of a drone, with a particular emphasis on achieving autonomous functionality through ROS and integrating a camera for media capture.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:949420
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: sveučilišni/a magistar/magistra inženjer/inženjerka računarstva (sveučilišni/a magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-10-31 09:00:51