Tesi etd-09112023-192314 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
RUBINO, MARCO
URN
etd-09112023-192314
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
Relatori
relatore Prof.ssa Pallottino, Lucia
tutor Ing. Settimi, Alessandro
tutor Ing. Settimi, Alessandro
Parole chiave
- controller
- Jobot
- MPC
- NAV2
- obstacle avoidance
- ROS2
- slam
Data inizio appello
28/09/2023
Consultabilità
Non consultabile
Data di rilascio
28/09/2093
Riassunto
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.
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.
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