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 Universität München (GERMANIA) |
Aziende collaboratrici: | UNSPECIFIED |
URI: | http://webthesis.biblio.polito.it/id/eprint/7616 |
Modify record (reserved for operators) |