Diplomska naloga se osredotoča na raziskovanje in analizo dronov s prvoosebnim pogledom. Cilj naloge je preučiti različne tehnične vidike dronov s prvoosebnim pogledom in testirati delovanje prvoosebnega digitalnega sistema v različnih pogojih. V teoretičnem delu naloge smo navedli kratek pregled zgodovine in razvoja tehnologij kvadrokopterjev in p...
Diplomová práce se zabývá mechanikou letu kvadrokoptéry. Po analýze rotoru a principu visu je stanoven potřebný výkon ve visu pro tři typy vrtulí. Dále je numericky řešena závislost potřebného výkonu na rychlosti dopředného letu s ohledem na hmotnost a letovou hladinu. Výsledkem práce je sestavení programu pro výpočet výkonů. / This master’s thesis...
Published in IOP Conference Series: Earth and Environmental Science
The Traveling Salesman Problem (TSP) involves optimizing a route to find the most efficient path. In agricultural scenarios, a practical example of TSP arises when Unmanned Aerial Vehicles (UAVs) are required to traverse multiple locations (nodes) to execute specific tasks such as monitoring or fertilization. One of the algorithms employed for solv...
There is a constant demand to use more advanced control methods in a wider field of applications. Model Predictive Control (MPC) is one such control method, based on recurrently solving an optimization problem for determining the optimal control signal. To solve an optimization problem can be a complex task, and it is difficult to determine beforeh...
Published in The Scientific Bulletin of Electrical Engineering Faculty
Nowadays, Small quadcopters have made significant advancements in recent years, thanks to the development of control systems, the availability of sensors, and affordable and reliable materials for their production. Additionally, programs have been developed to model and analyze these aircraft before production. The professional applications of quad...
Published in The Scientific Bulletin of Electrical Engineering Faculty
The increasing use of drones in various fields has led to their popularity in developed countries due to their ease of use and manufacture. This Miniature Pilotless Aircraft has numerous beneficial usages such as express shipping, gathering information, crop monitoring, cargo transport, storm tracking, geographic mapping of inaccessible terrain, se...
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear in canonical form (as chains of integrators). The caveat is that mapping from the original to the flat output s...
This paper studies the distributed coverage control problem of multi-quadcopter systems connected with fixed and switching network topologies to guarantee the finite-time convergence. The proposed method modifies the objective function originating from the locational optimization problem to accommodate the consensus constraint and solves the proble...
This thesis is primarily focused on development of a software interface between existing flight dynamics model and a custom-made flight controller software (FCS). The interface is able to realize both software-in-the-loop simulation and hardware-in-the-loop simulation. Simulations are then used to aid development of a fully functional FCS, which sh...
Recent developments have enabled the mass production of cheap, high-performance multirotors. As a result of this, the multirotor has found a large variety of different uses. Testing new algorithms using real-life flights is costly in terms of time and potentially in terms of materials in the case of a crash. Simulators have quickly gained prominenc...
