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Model Predictive Control for UAV trajectory generation and obstacle avoidance

Filippo Nazzareno Galli

Model Predictive Control for UAV trajectory generation and obstacle avoidance.

Rel. Marcello Chiaberge. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2018

Abstract:

In this thesis the control and trajectory generation problem for quadrotors is addressed by first analysing the available alternatives and then proposing a novel Model Predictive Controller with tracking error feedback that allows for real-time trajectory update and control, as well as obstacle avoidance strategies. Results on simulation are compared at last.

Relators: Marcello Chiaberge
Academic year: 2017/18
Publication type: Electronic
Number of Pages: 67
Additional Information: Tesi secretata. Full text non presente
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Ente in cotutela: Technische Universit√§t M√ľnchen (GERMANIA)
Aziende collaboratrici: UNSPECIFIED
URI: http://webthesis.biblio.polito.it/id/eprint/7616
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