TY  - JOUR
T1  - Localization and Point Cloud Based 3D Mapping with Autonomous Robots
TT  - Otonom Robotlarla Lokalizasyon ve Nokta Bulutu Tabanlı 3B Haritalama
AU  - Açıkel, Selya
AU  - Gökçen, Ahmet
PY  - 2019
DA  - October
DO  - 10.31590/ejosat.636389
JF  - Avrupa Bilim ve Teknoloji Dergisi
JO  - EJOSAT
PB  - Osman SAĞDIÇ
WT  - DergiPark
SN  - 2148-2683
SP  - 82
EP  - 92
LA  - en
AB  - In this study, localizationand environment mapping application is aimed with an autonomous robot. A new algorithmis presented to scan a larger area, to produce faster and more accurateresults. The mapping process is intended not to be affected by environmentalmovements. It can be used in military areas to gain manpower in the mine areaor to model the environment in virtual reality applications. In autonomousrobot design, the horizontal and vertical angle values of the Lidar Lite V3 areprovided by two servo motors. A four-wheeled car model was used. Ultrasonicsensors are placed on the front, right and left surfaces of the robot,Raspberry Pi 3 and Pi Camera was placed on top. It is seen that the movingaverage filter removes the noise generated on the map. The Lidar Lite V3 wasable to take measurements at longer distances. Noise generation is prevented bymotion detection algorithm. It can be used in interior space mapping,environment modeling, virtual reality applications, military areas, miningsector and graphic applications. In outdoor mapping, it can be used to create amap of an area of 40 meters in diameter. The mapping process was performed asclose to the actual values by using the moving average filter and the LidarLite V3. The mapping process with the motion detection system is paused andactual position data are obtained using GPS. 
KW  - Mapping
KW  - localization
KW  - SLAM
KW  - Moving Average Filter
KW  - Lidar
N2  - Bu çalışmada otonom bir robot ile çevre haritalaması ve konum takibiyapılması amaçlanmıştır. Daha geniş bir alanın taranması, daha hızlı ve doğrusonuçların üretilmesi amacıyla yeni bir algoritma sunulmuştur. Haritalamaişleminin ortam hareketlerinden etkilenmemesi amaçlanmıştır. Askeri alanlarda,maden alanında insan gücünden kazanç sağlamak veya sanal gerçeklikuygulamalarında ortam modeli çıkarmak amacıyla kullanılabilmektedir. Otonomrobot tasarımında iki adet servo motor ile Lidar Lite V3’e yatay ve düşey açıdeğerleri verilmiştir. Dört tekerlekli bir araba modeli kullanılmıştır. Robotunön, sağ ve sol yüzeylerine birer ultrasonik sensör ve üzerine Raspberry Pi 3yerleştirilmiştir. Hareketli ortalamalar filtresinin haritada oluşangürültüleri giderdiği görülmüştür. Lidar Lite V3 ile daha uzak mesafelerdenölçüm alınabilmiştir. Hareket algılama algoritması sayesinde gürültü oluşumuengellenmiştir. Pratikte iç mekan haritalamada, ortam modellemede, sanalgerçeklik uygulamalarında, askeri alanlarda, maden sektöründe ve grafikuygulamalarında kullanılabilir. Dış mekan haritalamada ise kırk metre çapındabir alanın haritasını oluşturmakta kullanılabilir. Haritalama işlemi, hareketliortalamalar filtresi ve Lidar Lite V3 kullanılarak gerçek değerlere en yakınşekilde gerçekleştirilmiştir. Hareket algılama sistemi ile haritalama işlemiduraklatılmıştır ve GPS kullanılarak gerçek konum verileri elde edilmiştir.
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UR  - https://doi.org/10.31590/ejosat.636389
L1  - https://dergipark.org.tr/en/download/article-file/836799
ER  -