DIJKSTRA ALGORITHM USING UAV PATH PLANNING

Year 2020, , 92 - 105, 31.12.2020

Elaf Dhulkefl Akif Durdu , Hakan Terzioğlu

https://doi.org/10.36306/konjes.822225

Cited By: 11

Abstract

The use of unmanned aerial vehicles (UAV) is increasing today. UAVs can be divided into two parts, which are remote controlled and can travel automatically due to a certain battery problem. Recent research has also focused on the development and application of new algorithms to autonomously control these vehicles and determine the shortest flight paths. Together with these researches, UAVs are used in many civil activities such as weather forecasts, environmental studies and traffic control. Three-dimensional (3D) path planning is an important issue for autonomously moving UAVs. The shortest path for Unmanned Aerial Vehicles (UAV) is determined by using two-dimensional (2D) path planning algorithms using the obstacles in the environment, and allows UAVs to perform their environmental tasks as soon as possible. The purpose of this study is to determine the shortest path to the target point and avoiding obstacles for UAVs using the Dijkstra algorithm. It was developed to evaluate the arrival time of the UAVs in the path planning algorithm with the simulation performed in the MATLAB program. In this study, the obstacles were defined for the purpose of the building with different heights and different widths and 2D and 3D models were carried out, assuming that the UAV flies at certain heights. In addition, the flight of the UAVs in the route planning determined in the real applications was carried out and the data such as battery consumption, amount of battery spent, speed, amount of travel were examined.

Keywords

UAV, 2D and 3D, path planning, Dijkstra algorithm

DIJKSTRA ALGORİTMASI KULLANILARAK İHA YOL PLANLAMASI

Abstract

İnsansız hava araçlarının (İHA) kullanımı günümüzde giderek artmaktadır. İHA’lar uzaktan kumandalı ve belirli bir batarya probleminden dolayı otomatik olarak seyahat edebilen olmak üzere iki kısma ayrılabilirler. Son dönemde gerçekleştirilen araştırmalar, bu araçları otonom bir şekilde kontrol etmek ve en kısa uçuş yollarını belirlemek için yeni algoritmaların geliştirilmesi ve uygulanması konularına da odaklanmışlardır. Bu araştırmalarla birlite kullanım alanı olarak İHA'lar hava tahminleri, çevre çalışmaları ve trafik kontrolü gibi birçok sivil faaliyette kullanılmaktadır. Otonom hareket eden İHA’lar için üç boyutlu (3D) yol planlaması önemli bir konudur. İnsansız Hava Araçları (İHA) için en kısa yol, çevredeki engelleri kullanarak iki boyutlu (2D) yol planlama algoritmaları kullanılarak belirlenir ve İHA’ların çevre görevlerini mümkün olan en kısa sürede yerine getirmelerine olanak tanır. Bu çalışmanın amacı, Dijkstra algoritması kullanılarak İHA’lar için engellerden kaçınarak ve hedef noktasına giden en kısa yolu belirlemektir. MATLAB programında gerçekleştirilen simülasyon ile yol planlama algoritmasında İHA’ların hedefe varış zamanını değerlendirmek için geliştirilmiştir. Bu çalışma farklı yükseklik ve farklı ene sahip olan bina amacıyla engeller tanımlanmış ve İHA’nın belirli yüksekliklerde uçtuğu kabul edilerek 2D ve 3D modellemeleri gerçekleştirilmiştir. Ayrıca İHA’ların gerçek uygulamalarda belirlenen yol planlamalarında uçuşu gerçekleştirilerek pil tüketimi, harcanan pil miktarı, hızı, alınan yol miktarı gibi verilerde incelenmiştir.

Keywords

İnsansız hava araçları (İHA), 2D ve 3D, yol planlama, Dijkstra algoritması

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