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undergraduate thesis
Koreografija jata bespilotnih letjelica
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:037514
Glavić Sanković, Paola
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Glavić Sanković, P. (2022). Koreografija jata bespilotnih letjelica (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:037514

Glavić Sanković, Paola. "Koreografija jata bespilotnih letjelica." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:037514

Glavić Sanković, Paola. "Koreografija jata bespilotnih letjelica." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:037514

Glavić Sanković, P. (2022). 'Koreografija jata bespilotnih letjelica', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 11 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:037514

Glavić Sanković P. Koreografija jata bespilotnih letjelica [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 August 11] Available at: https://urn.nsk.hr/urn:nbn:hr:168:037514

P. Glavić Sanković, "Koreografija jata bespilotnih letjelica", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:037514

Metadata
TitleKoreografija jata bespilotnih letjelica
Title (english)Choreography for a swarm of UAVs
AuthorPaola Glavić Sanković
MentorTamara Petrović (mentor)
Committee memberTamara Petrović (član povjerenstva)
Committee memberAna Milas (član povjerenstva)
Committee memberMarko Križmančić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Bespilotne letjelice se mogu koreografirati u svrhu nastupa na promocijama. Da bi sve prošlo bez problema, koreografija, osim zadavanja početnog i krajnjeg stanja, zahtjeva da ni u jednom trenutku ne dođe do sudaranje letjelica. U ovom radu primjenjuje se metoda unaprijednog planiranja trajektorija, koja uzima u obzir ograničenja na brzinu, prostor, akceleraciju i trzaj za svaku letjelicu. Osim tih ograničenja, definira se i minimalna potrebna udaljenost između svake dvije letjelice koja će osigurati nesudaranje. Koristeći tako zadana ograničenja, problem se opisuje kao optimizacijski problem te se uz pomoć sekvencionalnog konveksnog programiranja dolazi do rješenja. Optimizacijski problem rješavan je pomoću Gurobi programskog paketa i analizirana su rješenja za koreografije s do četiri letjelice.
Abstract (english)
Drones can be used to perform choreographies at events. In order for everything to go smoothly, the choreography, apart from setting the initial and final states, requires drones not to collide at any moment. This paper gives a solution to that problem by using an ahead-of-time trajectory planning method which requires setting constraints on speed, space, acceleration and jerk for each drone. In addition to these limitations, a minimum distance is also defined between every two drones, ensuring non-collision. Using such given constraints, the problem is described as an optimization problem and a solution is found with the help of sequential convex programming. The optimization problem was solved using the Gurobi software package and solutions with up to four drones were analyzed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:037514
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-15 10:11:57