Benzetim Yapılan Ortamlarda Otonom İHA Navigasyonu: Dijkstra ve A* Algoritmalarının Karşılaştırmalı Çalışması

Year 2025, Volume: 12 Issue: 2, 488 - 503, 30.11.2025

Selman Kayalı , Uğur Yüzgeç , Murat Özalp

https://doi.org/10.35193/bseufbd.1782323

Abstract

Bu çalışma, simüle edilmiş 2D ortamlarda İnsansız Hava Araçlarının (İHA) otonom yol planlaması için Dijkstra ve A* algoritmalarının karşılaştırmalı bir analizini sunmaktadır. Simülasyonlar, çok yönlü bir robotik simülasyon platformu olan CoppeliaSim (V-REP) üzerinde gerçekleştirilmiştir. Bu platformda, bir quadcopter modeli, her algoritma tarafından oluşturulan en kısa yolu takip ederek engellerle dolu senaryolarda navigasyon yapmaktadır. Her iki algoritma da ızgara tabanlı bir grafik temsil kullanılarak uygulanmış ve yol maliyetleri Manhattan ve Öklid mesafeleri ile hesaplanmıştır. İHA, hesaplanan yolu gerçek zamanlı olarak görsel olarak izler, engelleri önler ve hedefe ulaştığında başlangıç noktasına geri döner. Yol optimalitesi, hesaplama verimliliği ve yürütme süresi gibi performans ölçütleri, iki yaklaşımı karşılaştırmak için değerlendirilir. Sonuçlar, Dijkstra'nın en kısa yolu garanti ederken, A*'nın yol uzunluğunda minimum sapma ile daha hızlı yakınsama sağladığını ve bu nedenle gerçek zamanlı İHA navigasyonu için daha uygun olduğunu göstermektedir. Görselleştirilmiş simülasyon çerçevesi, klasik yol bulma algoritmalarının fizik özellikli bir ortamda İHA modelleriyle entegre edilmesinin etkinliğini gösterir ve otonom navigasyon araştırmaları için tekrarlanabilir bir test ortamı sunar.

Keywords

İHA yol planlama , Dijkstra , A* algoritması , CoppeliaSim , otonom navigasyon , en kısa yol

Ethical Statement

Bu çalışmanın hazırlanma sürecinde bilimsel ve etik ilkelere uyulduğu ve yararlanılan tüm çalışmaların kaynakçada belirtildiği beyan olunur.

Supporting Institution

Bu araştırmayı desteklemek için dış fon kullanılmamıştır.

Thanks

Bu çalışma, Bilecik Şeyh Edebali Üniversitesi Bilgisayar Mühendisliği Bölümü'nde bir bitirme projesi kapsamında gerçekleştirilmiştir. Yazarlar, bu çalışma boyunca akademik destek ve altyapı sağladığı için Bilgisayar Mühendisliği Bölümü'ne içten teşekkürlerini sunar. Simülasyonun kaynak kodu şu adreste mevcuttur: https://github.com/retnap/Dijkstra-and-A-Search-Algorithm-with-CoppeliaSim. CoppeliaSim ortamı ve İHA yol izleme ile ilgili ek tanıtım videolarına YouTube kanalından ulaşılabilir: https://www.youtube.com/@selmankayal2006.

Autonomous UAV Navigation in Simulated Environments: A Comparative Study of Dijkstra and A* Algorithms

Abstract

This study presents a comparative analysis of the Dijkstra and A* algorithms for the autonomous path planning of Unmanned Aerial Vehicles (UAVs) in simulated 2D environments. The simulations were conducted in CoppeliaSim (V-REP), a versatile robotics simulation platform, where a quadcopter model navigated through obstacle-rich scenarios by following the shortest path generated by each algorithm. Both algorithms were implemented using a grid-based graph representation, with the path costs calculated using the Manhattan and Euclidean distances. The UAV visually traced the computed path in real time, avoided obstacles, and returned to the starting point after reaching the target. Performance metrics such as path optimality, computational efficiency, and execution time were evaluated to compare the two approaches. The results indicate that while Dijkstra guarantees the shortest path, A* achieves faster convergence with minimal deviation in path length, making it more suitable for real-time UAV navigation. The visualized simulation framework demonstrates the effectiveness of integrating classical pathfinding algorithms with UAV models in a physics-enabled environment, offering a reproducible testbed for autonomous navigation research.

Keywords

UAV path planning , Dijkstra , A* algorithm , CoppeliaSim , autonomous navigation , shortest path

Ethical Statement

It is declared that scientific and ethical principles were followed during the preparation of this study and that all studies used are stated in the bibliography.

Supporting Institution

The author(s) acknowledge that they received no external funding to support this research.

Thanks

This study was conducted within the scope of a senior project in the Department of Computer Engineering at Bilecik Şeyh Edebali University. The authors would like to express their sincere gratitude to the Department of Computer Engineering for its academic support and infrastructure throughout this work. The source code for the simulation is available at: https://github.com/retnap/Dijkstra-and-A-Search-Algorithm-with-CoppeliaSim. Additional demonstration videos of the CoppeliaSim environment and UAV path tracking can be accessed via the YouTube channel: https://www.youtube.com/@selmankayal2006.

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