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master's thesis
Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:805784
Markovinović, Luka
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Markovinović, L. (2022). Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:805784

Markovinović, Luka. "Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:805784

Markovinović, Luka. "Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:805784

Markovinović, L. (2022). 'Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:805784

Markovinović L. Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:805784

L. Markovinović, "Upravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:805784

Metadata
TitleUpravljanje gibanjem mobilnog robota zasnovano na modelsko prediktivnom upravljanju
Title (english)Motion planning of mobile robots based on model predictive control
AuthorLuka Markovinović
MentorMarija Seder (mentor)
Committee memberMarija Seder (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-12, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:805784
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 on2023-01-14 09:27:22