Year 2016,
Volume: 3 Issue: 2, 0 - 0, 31.05.2016
Abstract
Otonom robotlar günümüzde birçok alanda önemli görevler icra etmektedirler. Robot, kendisine verilen bir görevi yerine getirirken, hedefe ilerlemek için yol bulma problemini çözmeli ayrıca kendi bekasını korumak için, algılayıcıları yardımıyla çevreden elde ettiği verileri kullanarak, varsa olası bir çarpışmayı önlemek için statik veya dinamik olarak engellerden sakınma yapabilmelidir.
Bu çalışmada, sonar algılayıcılar ve sezgisel yöntemler kullanarak, robotların engelden sakınım ve yol bulma probleminin çözümüne ilişkin bir otonom robot seyir sistemi geliştirilmiştir. Bu kapsamda, laboratuar ortamında kameradan alınan resim bilgisi, resim işleme teknikleri ile engelleri de içerecek şekilde harita haline getirilmiş, hibrit bir algoritma olarak tasarlanmış seyir sistemi içinde, genetik algoritma yardımıyla global yol bulma problemi çözülürken, dinamik engellerden sakınmak amacıyla da çeşitli engelden sakınma yöntemleri uygulanmıştır. Çalışmalar, öncelikle MobileSim benzetim ortamında denenmiş ve ardından Pioneer 3-dx robot üzerinde ayrıca gerçeklenmiştir.
Keywords
References
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- http://www.mobilerobots.com/software/mobilesim.aspx (ziyaret tarihi: 1 Nisan 2015).
- http://www.mobilerobots.com/ResearchRobots/PioneerP3DX.aspx (ziyaret tarihi: 10 Temmuz 2015)
Year 2016,
Volume: 3 Issue: 2, 0 - 0, 31.05.2016
Abstract
References
- Bajracharya, M.,Maimone, M. W., Helmick, D., "Autonomy for Mars rovers: Past, present, and future", Computer, 41(12) (2008), 44-50.
- Philippsen, R., Siegwart, R., "Smooth and efficient obstacle avoidance for a tour guide robot", (2003) (No. LSA-CONF-2003-018).
- Dijkstra, E. W., "A note on two problems in connexion with graphs", Numerische mathematik, 1(1) (1959), 269-271.
- Hart, P. E.,Nilsson, N. J., Raphael, B., "A formal basis for the heuristic determination of minimum costpaths", Systems Science and Cybernetics, IEEE Transactions on, 4(2) (1968), 100-107.
- Stentz, A., "Optimal and efficient path planning for partially-known environments", Inproceedings IEEE International Conference on Robotics and Automation, (1994) pp. 3310-3317.
- Rimon, E., Koditschek, D. E., "Exact robot navigation using artificial potential functions", Robotics and Automation, IEEE Transactions on, 8(5) (1992), 501-518.
- Holland J. H., "Adaptation in Natural and Artificial Systems", University of Michigan Press, Ann Arbor, Michigan (1975)
- Elshamli, A., Abdullah, H., Areibi, S., "Genetic algorithm for dynamic path planning", In 2004 Canadian Conference on Electrical and Computer Engineering,Vol. 2 (2004), pp. 677-680.
- Hu, Y., Yang, S. X., "A knowledge based genetic algorithm for path planning of a mobile robot", In proceedings 2004 IEEE International Conference on Robotics and Automation,ICRA'04, Vol.5 (2004), pp. 4350-4355.
- Tuncer, A., Yildirim, M., "Dynamic path planning of mobile robots with improved genetic algorithm", Computers and Electrical Engineering, 38(6) (2012), 1564-1572.
- Gao, M.,Xu, J., Tian, J., Wu, H., "Path planning for mobile robot based on chaos genetic algorithm", Fourth International Conference on Natural Computation, ICNC'08,Vol.4 (2008), pp.409-413.
- Wai, R. J.,Liu, C. M., Lin, Y. W., "Design of switching path-planning control for obstacle avoidance of mobile robot", Journal of the Franklin Institute, 348(4) (2011), 718-737.
- Golberg, D. E. "Genetic algorithms in search, optimization, and machine learning", AddionWesley, (1989).
- Siegwart, R.,Nourbakhsh, I. R., and Scaramuzza, D., (2011). Introduction to autonomous mobile robots, MIT Press.
- Yufka, A., Parlaktuna, O., "Performance comparison of bug algorithms for mobile robots", In International Symposium on Innovations in Intelligent Systems and Applications (INISTA'09) (2009), pp. 416-421.
- http://www.mobilerobots.com/software/mobilesim.aspx (ziyaret tarihi: 1 Nisan 2015).
- http://www.mobilerobots.com/ResearchRobots/PioneerP3DX.aspx (ziyaret tarihi: 10 Temmuz 2015)
There are 17 citations in total.
Details
| Journal Section | UMAS 2015 Ulusal Mühendislik Araştırmaları Sempozyumu Seçilen Articles |
|---|---|
| Authors | |
| Publication Date | May 31, 2016 |
| Submission Date | November 11, 2015 |
| Published in Issue | Year 2016 Volume: 3 Issue: 2 |
