Optimization of Motion Planning of Indoor Cleaning Robot with Deep Learning Methods

Yıl 2026, Cilt: 38 Sayı: 1, 1 - 11

Deniz Sakarya , Beşir Dandıl

https://doi.org/10.35234/fumbd.1738019

Öz

Today, with the advancement of technology, mobile robots have entered our lives. Cleaning robots, one of the applications of mobile robots, have become tools that make human life easier. Their most fundamental feature is that they clean their environment on behalf of humans. In this study, a robot vacuum cleaner capable of autonomously cleaning the floors of its environment was developed. Unlike other robot vacuum cleaners, the developed robot vacuum cleaner has the ability to adjust its path plan when it encounters an object. Deep learning was used to adjust this path plan. Thanks to deep learning, it can adjust its path plan according to the algorithm created during the training phase if any of the objects encountered are encountered. This allows the robot vacuum cleaner to continue navigating without getting stuck.

Anahtar Kelimeler

Deep learning , path planning , mapping , robotics

Derin Öğrenme Yöntemleriyle Kapalı Alan Temizlik Robotunun Hareket Planlamasının Optimizasyonu

Öz

Günümüzde teknolojinin gelişmesiyle birlikte mobil robotlar da hayatımıza giriş yapmıştır. Mobil robotların kullanım alanlarından biri olan temizlik robotları, insan yaşamını kolaylaştıran araçlardan biri haline gelmiştir. Bunun en temel özelliği de bulunduğu ortamı insanların yerine temizlemesidir. Bu çalışmada, otonom bir şekilde bulunduğu ortamın zemin temizleme işlemlerini gerçekleştirebilen robot süpürge gerçekleştirilmiştir. Geliştirilen robot süpürge, diğer robot süpürgelerden farklı olarak karşısına bir nesne çıkması durumunda yol planlamasını düzenleme özelliğine sahiptir. Yol planlamasını düzenleyebilmesi için derin öğrenme yöntemi kullanılmıştır. Derin öğrenme sayesinde, önüne eğitim aşamasında öğretilen cisimlerden herhangi birisinin çıkması durumunda oluşturulan algoritmaya göre yol planlamasını düzenleyebilmektedir. Bu sayede robot süpürge cisimlere takılmadan gezinme işlemine devam edebilmektedir.

Anahtar Kelimeler

Derin öğrenme , yol planlaması , haritalama , robotik

Kaynakça

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