Marcellini, Salvatore (2023) Motion planning for autonomous unmanned aerial vehicles. [Tesi di dottorato]
Anteprima |
Testo
Marcellini_Salvatore_36.pdf Download (4MB) | Anteprima |
| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Motion planning for autonomous unmanned aerial vehicles |
| Autori: | Autore Email Marcellini, Salvatore salvatore.marcellini@unina.it |
| Data: | 13 Dicembre 2023 |
| Numero di pagine: | 104 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Dottorato: | Information technology and electrical engineering |
| Ciclo di dottorato: | 36 |
| Coordinatore del Corso di dottorato: | nome email Russo, Stefano stefano.russo@unina.it |
| Tutor: | nome email Lippiello, Vincenzo [non definito] |
| Data: | 13 Dicembre 2023 |
| Numero di pagine: | 104 |
| Parole chiave: | motion planning, autonomous aerial vehicles, closed-loop sensitivity, tilting multirotors, parametric uncertainties |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Depositato il: | 14 Dic 2023 10:18 |
| Ultima modifica: | 24 Apr 2026 09:22 |
| URI: | http://www.fedoa.unina.it/id/eprint/15621 |
Abstract
This thesis presents the development of motion planning techniques for autonomous unmanned aerial vehicles. The focus is first placed on designing trajectories based on closed-loop sensitivity theory, which shifts the emphasis from traditional control design to control-aware trajectory generation for a more versatile approach. These trajectories have been tested both with a commercial drone and with a new omnidirectional tilting multirotor. Next, the planning of optimal trajectories for repetitive reconnaissance of regions of interest by autonomous robots is explored. Within this context, a novel approach based on nonlinear model predictive control is introduced. This method enables the availability of an online solution that evolves over time, empowering the overseer to adjust its behavior in response to changes in the environment and the varying interest value of different regions. Additionally, it facilitates collaboration with other potential explorers.
Downloads
Downloads per month over past year
Actions (login required)
 |
Modifica documento |
