Three Dimensional Searching Surface Path Planning of Mobil Robots

Abstract

Route planning of mobile robots has vital importance in the industrial robotic navigation applications of single / multi-floors closed area. In this study, it is proposed to apply an optimal route planning based on the graph search algorithm for orienting mobile robots in multiple floors industrial building where multiple exits are possible for each floor. For the route planning, the distance is calculated on the basis of a 3-dimensional cubic surface containing two floors, in which the starting and destination points are located. Dijkstra graph searching algorithm is preferred since it calculates the distances from starting point to all points in specified surfaces in order to create shortest route avoiding obstacles.  In the study, two different scenarios including different situations are created for orienting the mobile robot. These scenarios include the situation of the destination point on the same and on the different floor with the starting point of the mobile robot. Simulation results of the shortest routes are presented in the paper using MATLAB environment. 

Keywords

• Route planning,Optimum route,Graph searching algorithm,Dijkstra algorithms

Üç Boyutlu Bir Arama Yüzeyi için Mobil Robotların Yol Planlaması

Abstract

Mobil robotların yol planlaması, tek/çok katlı kapalı alan endüstriyel robotik navigasyon uygulamalarında hayati bir öneme sahiptir. Bu çalışmada, çok katlı ve her kat için birden çok katlar arası geçişin mümkün olduğu endüstriyel bir binada mobil robotların yönlendirilmesi için graf arama algoritmasına dayanan bir optimum yol planlaması önerilmiştir. Yol planlaması için başlangıç ve varış noktalarının yer aldığı iki katı içeren 3 boyutlu kübik yüzey baz alınarak mesafe hesaplanmıştır. Dijkstra graf arama algoritması, engellerden sakınarak en kısa yolun bulunması için belirlenen yüzeylerde başlangıç noktasından tüm noktalara olan mesafeleri hesapladığından dolayı çalışmada bu algoritma tercih edilmiştir.

Çalışmada mobil robotun yönlendirilmesi için farklı durumları içeren iki farklı senaryo oluşturulmuştur. Bu senaryolar hedef noktasının mobil robotun bulunduğu kattaki başlangıç noktası ile aynı katta ve farklı katta olması durumlarını içermektedir. Makalede, MATLAB ortamında elde edilen en kısa yolu gösteren benzetim sonuçları sunulmuştur.

Keywords

• Yol planlama,Optimum yol,Graf arama algoritması,Dijkstra algoritması

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