Açısal Duruş Kontrolü Destekli Özgün bir Dinamik Pencere Yaklaşımı

Year 2020, Volume: 7 Issue: 1, 184 - 200, 28.06.2020

Suat Karakaya , Hasan Ocak

https://doi.org/10.35193/bseufbd.705765

Cited By: 2

Abstract

Bu çalışmada mobil robot sistemleri için hareket planlama probleminde sıklıkla uygulanan Dinamik Pencere Yaklaşımı (DWA) metoduna bir açısal son duruş kontrolü önerilmiştir. Standart uygulamada bir başlangıç ve hedef konumu arasında yol planlama işlevi gören metot hedef konumu için bir açısal duruş kontrolü veya noktasal stabilizasyon sağlamamaktadır. Literatürdeki bu boşluğu doldurmak için çalışılan harita üzerinde bir “sanal garaj” tanımlanarak nihai hedefe yakınsadıkça değişen, adaptif bir yörünge takip prosedürü tanımlanmış, nihai konumda sistemin belli bir duruş açısında konumlanması sağlanmıştır. Yapılan testler sonucunda hesaplanan açısal duruş hataları tatmin edici sonuçlar elde edildiğini göstermiştir.

Keywords

Dinamik Yol Planlama, Pozisyon Kontrolü, Dinamik Pencere Yaklaşımı

A Novel Dynamic Window Approach Supported by Posture Control

Abstract

In this study, a final posture control method is proposed to the Dynamic Window Approach (DWA) which is frequently used in the motion planning problem for mobile robot systems. In common DWA applications, the method that performs the path planning task between a start and target position does not provide an angular posture control or point stabilization for the target position. In order to solve this problem in the literature, a “virtual garage” was defined on the map, and an adaptive trajectory tracking procedure that varies as the robot converged to the target pose was defined, and the system was positioned at a certain heading angle in the target position. The angular posture errors calculated as a result of the tests proved that satisfactory results were obtained.

Keywords

Dynamic Path Planning, Posture Control, Dynamic Window Approach

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