prikaz prve stranice dokumenta Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija
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undergraduate thesis
Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:735630
Marković, Petar
University of Zagreb
Faculty of Electrical Engineering and Computing

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Marković, P. (2017). Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:735630

Marković, Petar. "Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:735630

Marković, Petar. "Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:735630

Marković, P. (2017). 'Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:735630

Marković P. Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:735630

P. Marković, "Planiranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:735630

Metadata
TitlePlaniranje trajektorije bespilotne letjelice optimiranjem vremena i viših derivacija
Title (english)Jerk and split free trajectory planning for an unmanned aerial vehicle
AuthorPetar Marković
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberAntun Ivanović (član povjerenstva)
Committee memberMarko Car (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-09-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Problem upravljanja bespilotnom letjelicom kroz niz točaka u prostoru može se postaviti kao problem generiranja trajektorija baziranih na polinomijalnim funkcijama višeg reda ovisnih o vremenu. Takve trajektorije mogu osigurati kontinuiranost brzine i akceleracije letjelice kroz među-točke putanje, čime se eliminira potreba za zaustavljanjem. Dodatno, minimizacija polinoma po četvrtoj derivaciji položaja i po vremenu osigurava optimalno glatke trajektorije. Za generiranje polinoma optimiziranih po četvrtoj derivaciji položaja koristi se kvadratno programiranje postavljeno s uvjetima jednakosti. Zatim se optimiraju omjeri vremena leta između susjednih među-točaka korištenjem metode najstrmijeg spusta. U konačnici se trajanje trajektorije normira ovisno o zahtjevu na maksimalnu brzinu ili akceleraciju, čime se regulira trajanje i agresivnost trajektorije.
Abstract (english)
The problem of navigating an Unmanned Aerial Vehicle (UAV) through a collection of checkpoints can be converted to the problem of generating time-based, high-order polynomial functions as trajectories. This method ensures continuity of derivatives of path, such as velocity and acceleration, between the aforementioned checkpoints. Minimising the fourth derivative of path, i. e. snap, and the duration of the trajectory leads to an optimal path. Minimum - snap polynomials are generated using Equality Constrained Quadratic Programming. Segment time ratios are then adjusted using Gradient Descent and finally, the duration of the trajectory is scaled dependent on requirements of maximum velocity or acceleration, which regulates the aggresivness and duration of the flight.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:735630
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2019-03-13 22:43:21