Mobil Robot Yol Planlaması ve Takip Kontrolünde Yol Doğrusallığının Etkisi

Yıl 2025, Cilt: 41 Sayı: 2, 590 - 603, 30.08.2025

Sertaç Savaş , Mustafa Yusuf Yıldırım , Rüştü Akay

Öz

Son yıllarda mobil robotlar sosyal yaşam, eğitim ve sağlık gibi sektörlerin yanı sıra endüstriyel alanda da kullanılmaya başlanmıştır. Bu nedenle mobil robotlar ve problemleri araştırmacıların ilgi odağı haline gelmiştir. Yol planlama ve takip kontrolü mobil robotların temel problemleri arasındadır. Ancak literatür genellikle algoritmik iyileştirmelere odaklanmış, uzun hesaplama süreleri ve yüksek maliyetler gibi yol tipinin neden olabileceği dezavantajları göz ardı etmiştir. Bu çalışma algoritmik iyileştirmeler yerine problemin basitleştirilmesine odaklanmış ve yol doğrusallığının bir robotun planlanan yolu takip etmesi üzerindeki etkisini incelemiştir. Bu nedenle yapay arı kolonisi algoritması ile planlanan eğri ve çizgi tipi optimal yollar için bir saf takip denetleyicisi tasarlanmış ve yol takip performansları karşılaştırılmıştır.

Anahtar Kelimeler

mobil robot , yol planlama , yapay arı koloni , yol takip kontrolü , doğrusallık

The Effect of Path Linearity on Mobile Robot Path Planning and Tracking Control

Öz

In recent years, mobile robots have begun to be used in sectors such as social life, education and health as well as in the industrial sector. For this reason, mobile robots and their problems have become the focus of attention by researchers. Path planning and tracking control are among the basic problems of mobile robots. However, the literature generally focuses on algorithmic improvements, ignoring the disadvantages that the path type can cause such as long computation times and high costs. This study focuses on the problem simplifying instead of the algorithmic improvements, and examines the effect of path linearity on a robot's tracking the planned path. Therefore, a pure pursuit controller is designed for curve and line-type optimal paths planned by artificial bee colony algorithm and path tracking performances are compared.

Anahtar Kelimeler

mobile robot , path planning , artificial bee colony , path tracking control , linearity

Kaynakça

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