Thesis etd-09112023-192314 |
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Thesis type
Tesi di laurea magistrale
Author
RUBINO, MARCO
URN
etd-09112023-192314
Thesis title
MPC Control applied to an industrial AMR through the navigation stack of ROS2 (NAV2)
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof.ssa Pallottino, Lucia
tutor Ing. Settimi, Alessandro
tutor Ing. Settimi, Alessandro
Keywords
- controller
- Jobot
- MPC
- NAV2
- obstacle avoidance
- ROS2
- slam
Graduation session start date
28/09/2023
Availability
Withheld
Release date
28/09/2093
Summary
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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