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master's thesis
Lokalni planer trajektorije bespilotne letjelice
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:462889
Pogačić, Kata
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Pogačić, K. (2019). Lokalni planer trajektorije bespilotne letjelice (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:462889

Pogačić, Kata. "Lokalni planer trajektorije bespilotne letjelice." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:462889

Pogačić, Kata. "Lokalni planer trajektorije bespilotne letjelice." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:462889

Pogačić, K. (2019). 'Lokalni planer trajektorije bespilotne letjelice', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:462889

Pogačić K. Lokalni planer trajektorije bespilotne letjelice [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:462889

K. Pogačić, "Lokalni planer trajektorije bespilotne letjelice", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:462889

Metadata
TitleLokalni planer trajektorije bespilotne letjelice
Title (english)Local trajectory planner for an aerial vehicle
AuthorKata Pogačić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu razmatraju se različiti algoritmi planiranja trajektorije bespilotne letjelice. Postoji više načina kojima se provodi planiranje trajektorije letjelice, a u ovom radu predstavljene su Minimum Snap metoda, TOPP-RA i TOPP algoritam. Navedeni algoritmi implentirani su u Robotskom operacijskom sustavu(ROS) i programskom okruženju Python, a simulacije na letjelici Arducopter izvedene su u Gazebo simulatoru. Analizira se na koji način navedeni algoritmi generiraju trajektorije za različite oblike referentnih trajektorija i različitim metodama procjene performansi trajektorije razmatra se koliko su pojedini algoritmi precizni i brzi. Također se analizira kako primjena lokalnog planera utječe na kvalitetu i točnost dobivenih trajektorija.
Abstract (english)
In this master thesis we consider different algorithms for planning trajectory for an aerial vehicle.There are several ways to plan trajectory for an aerial vehicle but in this thesis Minimum Snap, TOPP-RA and TOPP algorithms are presented. Mentioned algorithms are implemented in the Robot Operating System (ROS) and in the Python programming environment. Simulations on the aerial vehicle Arducopter are performed in Gazebo simulator. It is analyzed how mentioned algorithms generate trajectories for different forms of referent trajectories and it is considered how algorithms are precise and fast using error-based quality metrics. It is also analyzed how local planner incluences the quality and the exactness of generated trajectories.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:462889
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2020-01-07 21:26:53