Optimum Enerji Verimliliğini Hedefleyen Rastgele Ağaçlar ve Yapay Arı Kolonisi Yöntemi ile Otonom Robotlarda Yol Planlama Algoritması

Yunis Torun; Züleyha Ergül; Ahmet Aksöz

doi:10.29109/gujsc.607996

Optimum Enerji Verimliliğini Hedefleyen Rastgele Ağaçlar ve Yapay Arı Kolonisi Yöntemi ile Otonom Robotlarda Yol Planlama Algoritması

Öz

Operatörüz hareket edebilen robotlarda (otonom robotlar) hareket sırasında engellere çarpmadan, en kısa yol ve en yumuşak yolu seçerek hedef konumuna ulaşması büyük önem taşımaktadır. Bu çalışımda, yol planlama eylemi sezgisel ve klasik yöntemlerinin avantajlarını birleştirmek dezavantajlarını minimize etmek için iki yöntemin melez kullanımı ile gerçekleştirilmiştir. Klasik yöntemlerden Rastgele ağaçlar yöntemi (Rapidly-exploring Random Tree-RRT) ve sezgisel yöntemlerden de Yapay Arı Kolonisi yöntemi (Artificial bee colony-ABC) ayrı ayrı kullanılarak ve daha sonra melez bir yaklaşımla, önceden keşfedilmiş, başlangıç ve hedef noktası belli haritada optimum yol, MATLAB’ da Robotik Sistem Araç Kutusu (Robotic System Toolbox) üzerinden benzetimi gerçekleştirilmiştir. Sunulan melez algoritmada alınan yol hesaplanırken enerji verimliği ile birlikte yol güvenliği de dikkate alınmıştır. İki tekerli mobil robotun enerji tüketimini RRT, ABC ve melez RRT-ABC yöntemlerinin kullanılması ile elde edilen yollarda hesaplanmış ve karşılaştırılmıştır. Yapılan karşılaştırmalar sonucunda melez algoritmanın daha verimli çalıştığı gözlemlenmiştir.

Anahtar Kelimeler

Rastgele Ağaçlar yöntemi,Yapay Arı Kolonisi algoritması,optimum rota planlama,enerji verimliliği,otonom robot

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Details

Primary Language

Turkish

Subjects

Engineering

Journal Section

Research Article

Authors

Yunis Torun ^*
0000-0002-6187-0451
Andorra

Züleyha Ergül This is me
0000-0002-7108-8930
Andorra

Ahmet Aksöz
0000-0002-2563-1218
Türkiye

Publication Date

December 24, 2019

Submission Date

August 20, 2019

Acceptance Date

October 29, 2019

Published in Issue

Year 1970 Volume: 7 Number: 4

DOI

https://doi.org/10.29109/gujsc.607996

IZ

https://izlik.org/JA34GA59TT

Cite

RIS / Bibtex

APA

Torun, Y., Ergül, Z., & Aksöz, A. (2019). Optimum Enerji Verimliliğini Hedefleyen Rastgele Ağaçlar ve Yapay Arı Kolonisi Yöntemi ile Otonom Robotlarda Yol Planlama Algoritması. Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım Ve Teknoloji, 7(4), 903-915. https://doi.org/10.29109/gujsc.607996

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