TY  - JOUR
T1  - Izgara Bazlı Yol Planlama için Matematik Tabanlı Metasezgisellerin Karşılaştırılması
TT  - Comparison of Maths-Based Metaheuristics for Grid-Based Path Planning
AU  - Yıldırım, Mustafa Yusuf
AU  - Akay, Rüştü
PY  - 2021
DA  - December
DO  - 10.31590/ejosat.1039899
JF  - Avrupa Bilim ve Teknoloji Dergisi
JO  - EJOSAT
PB  - Osman SAĞDIÇ
WT  - DergiPark
SN  - 2148-2683
SP  - 521
EP  - 530
IS  - 32
LA  - tr
AB  - Robot navigasyonunun en önemli bileşenlerinden biri olan yol planlama son yıllarda da araştırmacılar tarafından kapsamlı bir şekilde incelenmekte ve bu problem için birçok farklı metasezgisel algoritma kullanılmaktadır. Bu çalışmada ızgara tipi bir ortamda bir mobil robotun küresel yol planlaması ele alınmış ve bu problem için farklı matematik tabanlı metasezgisel algoritmalarının etkileri incelenmiştir. Öncelikle ızgara tipinde ve farklı zorluk derecelerinde üç farklı ortam tasarlanmıştır. Ardından, son yıllarda geliştirilen farklı matematik tabanlı algoritmalar kullanılarak robotun ortamlardaki optimum yolları hesaplanmıştır. Çalışmada metasezgisel algoritma olarak stokastik fraktal arama (Stochastic Fractal Search, SFS), aritmetik optimizasyon algoritması (Arithmetic Optimization Algorithm, AOA) ve sinüs kosinüs algoritması (Sine Cosine Algorithm, SCA) kullanılmıştır. Bulgular değerlendirildiğinde SFS algoritmasının en kısa mesafe ve engelden kaçınma açısından diğer algoritmalara göre daha iyi sonuçlar verdiği gözlemlenmiştir.
KW  - Yol Planlama
KW  - Metasezgisel
KW  - Matematik Tabanlı Algoritmalar
KW  - Optimizasyon
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UR  - https://doi.org/10.31590/ejosat.1039899
L1  - http://dergipark.org.tr/tr/download/article-file/2145453
ER  -