Tek Robottan Çoklu Robotlara Ortam Haritalama

Yıl 2012, Cilt: 2 Sayı: 4, 105 - 118, 23.10.2012

Hakan Karaoğuz , Özgür Erkent Haluk Bayram İşıl Bozma

Öz

Bu makalenin amacı, robotlar için ortam haritalama konusunda yapılmış çalışmaları, tek robottan başlayarak, çoklu robotlara kadar tarayarak kapsamlı ve güncel bir literatür değerlendirmesi sunmaktadır. Yapılan çalışmalar incelendiğinde, ortam haritalama problemlerinin iki önemli kısmı bulunduğu görülmektedir. İlk kısım, ortamda nelerin algılanacağı ve haritanın nasıl bir tanımlama ile oluşturulacağıdır. İkinci kısım ise, seçilen bu model ve robottan gelen bilgiler çerçevesinde, haritanın muhakeme için nasıl kullanılacağına ve güncelleneceğine dairdir. Çoklu robotlar ile ortam haritalama çalışmaları, tek robot için geliştirilen harita ve muhakeme yöntemlerinin çoklu robotlar için genelleştirilmesini esas aldığı görülmektedir. Bu çerçevede, seçilen makaleler 3 ana başlık altında sırasıyla incelenmekte ve yapılan uygulamalar genel olarak sunulmaktadır. Makale, genel bir değerlendirme ile sonlanmaktadır.

Anahtar Kelimeler

Tek Robottan, Çoklu Robotlara, Ortam Haritalama

Map Building: From Single Robot to Multirobot Sytems

Öz

This paper presents a survey of map building with single robots to multirobot systems. Map building is addressed in two related topics. The first pertains to the map models that have been developed while the second is associated with reasoning methods that are used in updating the constructed maps with the incoming sensory data. While initial work in this area has focused on single robots, recent work has started considering multirobot systems. Most such systems basically extend approaches that have been originally developed for single robots to multirobot scenarios. In this paper, we consider map models, reasoning with maps and multirobot map building one by one. Our attempt is to provide a comprehensive coverage of related work. The paper concludes with a discussion of related applications and a general evaluation.

Anahtar Kelimeler

Map Building, Single Robot, Multirobot Sytems

Kaynakça

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