Mapping and Location Using Genetic Algorithm with Autonomous Vehicle

Yıl 2020, Cilt: 8 Sayı: 1, 654 - 666, 31.01.2020

Merve Nur Demir Yusuf Altun

https://doi.org/10.29130/dubited.640063

Cited By: 2

Öz

Significant progress has been made in autonomous
systems in the light of technological advances and accumulated knowledge to
date. In this way, autonomous systems, collision avoidance, traffic sign
detection, mapping and so on. It can perform numerous intelligent functions.
The most challenging problem of real-time autonomous vehicles is that the
vehicle can perform self-mapping and location operations. Optimized location
application using Genetic Algorithm (GA) is expected to increase driving safety
for autonomous vehicles. This study focuses on a laser based localization and
mapping technique. In the system, a virtual test environment was established
and experiments were performed on an autonomous vehicle. Within the scope of
the study, virtual machines were created and Linux operating system was
installed on them. Then, TurtleBot3 was installed in these virtual machines in
ROS environment and a map was obtained by localizing the interior. This map is
used to find the shortest distances by genetic algorithm. As a result of the
observations, it was concluded that the robot in the simulation environment can
go to the desired position with high performance.

Anahtar Kelimeler

Genetic Algorithm, Mapping, Location, Autonomous Vehicle, SLAM

Otonom Araçla Genetik Algoritma Kullanılarak Haritalama ve Lokasyon

Öz

Teknolojik gelişmeler ve bu zamana
kadar biriken bilgilerin ışığında otonom sistemlerde muazzam bir ilerleme kaydedilmiştir.
Bu sayede otonom sistemler çarpışmadan kaçınma, trafik işareti tespiti,
haritalama vb. sayısız akıllı işlevleri gerçekleştirebilmektedir. Gerçek
zamanlı otonom araçların en zorlu problemi aracın kendi kendine haritalandırma
ve lokasyon işlemlerini yapabilmesidir. Genetik Algoritma (GA) kullanarak optimize
edilmiş lokasyon uygulaması ile otonom araçlar için sürüş güvenliğinin artması
beklenmektedir. Bu çalışmada lazer tabanlı bir lokalizasyon ve haritalama
tekniğinin üzerine odaklanılmıştır. Gerçekleştirilen sistemde sanal bir test ortamı
kurulmuş ve bir otonom araç üzerinde denemeler yapılmıştır. Çalışma kapsamında
sanal makineler oluşturularak üzerlerine Linux işletim sistemi kurulmuştur.
Sonra bu sanal makinelere ROS ortamında TurtleBot3 kurulmuş ve iç mekân
lokalizasyonu yapılarak bir harita elde edilmiştir. Bu harita genetik algoritma
ile en kısa mesafelerin bulunmasını sağlamak için kullanılmaktadır. Gözlemler
neticesinde simülasyon ortamındaki robot yüksek başarımla istenilen konuma
gidebildiği sonucuna ulaşılmıştır.

Anahtar Kelimeler

Genetik Algoritma, Haritalama, Lokasyon, Otonom Araç, SLAM

Kaynakça

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