TY  - JOUR
T1  - Üç Boyutlu Bir Arama Yüzeyi için Mobil Robotların Yol Planlaması
TT  - Three Dimensional Searching Surface Path Planning of Mobil Robots
AU  - Ozmen Koca, Gonca
AU  - Doğan, Şengül
PY  - 2019
DA  - March
Y2  - 2019
DO  - 10.17798/bitlisfen.473325
JF  - Bitlis Eren Üniversitesi Fen Bilimleri Dergisi
PB  - Bitlis Eren University
WT  - DergiPark
SN  - 2147-3129
SP  - 298
EP  - 307
VL  - 8
IS  - 1
LA  - tr
AB  - Mobil robotların yol planlaması, tek/çok katlı kapalıalan endüstriyel robotik navigasyon uygulamalarında hayati bir öneme sahiptir.Bu çalışmada, çok katlı ve her kat için birden çok katlar arası geçişin mümkünolduğu endüstriyel bir binada mobil robotların yönlendirilmesi için graf aramaalgoritmasına dayanan bir optimum yol planlaması önerilmiştir. Yol planlamasıiçin başlangıç ve varış noktalarının yer aldığı iki katı içeren 3 boyutlu kübikyüzey baz alınarak mesafe hesaplanmıştır. Dijkstra graf arama algoritması,engellerden sakınarak en kısa yolun bulunması için belirlenen yüzeylerdebaşlangıç noktasından tüm noktalara olan mesafeleri hesapladığından dolayıçalışmada bu algoritma tercih edilmiştir. Çalışmada mobil robotun yönlendirilmesi için farklıdurumları içeren iki farklı senaryo oluşturulmuştur. Bu senaryolar hedefnoktasının mobil robotun bulunduğu kattaki başlangıç noktası ile aynı katta vefarklı katta olması durumlarını içermektedir. Makalede, MATLAB ortamında eldeedilen en kısa yolu gösteren benzetim sonuçları sunulmuştur.
KW  - Yol planlama
KW  - Optimum yol
KW  - Graf arama algoritması
KW  - Dijkstra algoritması
N2  - Routeplanning of mobile robots has vital importance in the industrial roboticnavigation applications of single / multi-floors closed area. In this study, itis proposed to apply an optimal route planning based on the graph searchalgorithm for orienting mobile robots in multiple floors industrial buildingwhere multiple exits are possible for each floor. For the route planning, thedistance is calculated on the basis of a 3-dimensional cubic surface containingtwo floors, in which the starting and destination points are located. Dijkstragraph searching algorithm is preferred since it calculates the distances fromstarting point to all points in specified surfaces in order to create shortestroute avoiding obstacles. In the study,two different scenarios including different situations are created fororienting the mobile robot. These scenarios include the situation of thedestination point on the same and on the different floor with the startingpoint of the mobile robot. Simulation results of the shortest routes arepresented in the paper using MATLAB environment.
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UR  - https://doi.org/10.17798/bitlisfen.473325
L1  - https://dergipark.org.tr/en/download/article-file/668518
ER  -