Tipo di tesi
Tesi di laurea magistrale
Titolo
MPC Control applied to an industrial AMR through the navigation stack of ROS2 (NAV2)
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Riassunto (Italiano)
The goal of this thesis is the development of a controller and
it's implementation on a AMR, as first in simulated environment, carried out with Gazebo simulator, then in real situation on a AMR called Jobot. The controller is a Model Predictive Control (MPC), comparing it with another control based on the modified pure pursuit technique provided by ROS2 navigation. The software developed and his implementation has been realize by the Proxima Robotics agency.
The work has been implemented with ROS2, through his navigation stack NAV2.
The developed algorithm achieved excellent performance results in real time situations.
