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undergraduate thesis
Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila
2021. urn:nbn:hr:190:692483
Bujačić, Jakov
University of Rijeka
Faculty of Engineering
Department of Fluid Mechanics and Computational Engineering
Section of Computational Engineering

Cite this document

Bujačić, J. (2021). Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila (Undergraduate thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:692483

Bujačić, Jakov. "Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:692483

Bujačić, Jakov. "Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:692483

Bujačić, J. (2021). 'Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila', Undergraduate thesis, University of Rijeka, Faculty of Engineering, accessed 16 February 2025, https://urn.nsk.hr/urn:nbn:hr:190:692483

Bujačić J. Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila [Undergraduate thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2021 [cited 2025 February 16] Available at: https://urn.nsk.hr/urn:nbn:hr:190:692483

J. Bujačić, "Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila", Undergraduate thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:190:692483

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Metadata
TitleNumerička optimizacija za kontrolu manevarskih radnji autonomnih vozila
Title (english)Optimization-based control for maneuvering actions of autonomous vehicles
AuthorJakov Bujačić
MentorStefan Ivić (mentor)
MentorSiniša Družeta (komentor)
Committee memberKristian Lenić (predsjednik povjerenstva)
Committee memberStefan Ivić (član povjerenstva)
Committee memberSiniša Družeta (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Fluid Mechanics and Computational Engineering)
(Section of Computational Engineering)
Rijeka
Defense date and country2021-07-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U Završnom radu „Numerička optimizacija za kontrolu manevarskih radnji autonomnih vozila“ opisana je primjena numeričke optimizacije na stvarnom problemu. Problem je predstavljen tako što se optimizirala putanja po određenoj domeni/stazi, te je cilj bio minimizirati vrijeme prolaska bez izlijetanja sa staze. Nakon definiranja fizičkih ograničenja postavljen je način optimizacije koji se bazirao na optimizaciji putanje 20 koraka unaprijed nakon čega bi se usvojio prvi korak, odnosno pomak po putanji, te bi sljedeći optimizacijski ciklus krenuo od točke koja je prethodno usvojena kao točka putanje. Zaključeno je kako je poželjno optimizirati više ciljeva, obzirom da optimiziranje isključivo jednog cilja kompromitira ostale ciljeve koji mogu imati značajan utjecaj u kasnijim performansama.
Abstract (english)
„Optimization-based control for maneuvering actions of autonomous vehicles“ describes the application of numerical optimization for a realistic case. The problem was represented as solving or rather finding an ideal trajectory through defined domain/track/set of corners. The goal was to minimize the time it took to complete the task. After defining physical constraints, the optimization method was defined as optimizing 20 steps forward after which the first step of ideal trajectory of those 20 steps was set as the next step of the final path. The next optimization cycle started from the point that was lastly set as the next point of trajectory. The conclusion was that it's prefered to optimize multiple goals, since optimizing exclusively one goal comprimises other goals which may have significant impact on the first goal in later performances.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:692483
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-10-11 08:42:37