Gezgin Robotlarda Ultrasonik Mesafe Algılayıcılarla Robot Davranışlarının Kontrolü Ve Çevre Haritalama

Yıl 2007, Cilt: 20 Sayı: 2, 83 - 106, 31.12.2007

Osman Parlaktuna , Elif Eroğlu

Öz

Bu çalışmada gezgin bir robot üzerinde bulunan ultrasonik algılayıcılardan ve kodlayıcıdan alınan verilerden faydalanılarak Bayes güncellemeli doluluk ızgaraları yöntemiyle robotun dolaştığı çevrenin haritası oluşturulmuştur. Harita tespit etmekteki amacımız robotun ve etrafındaki cisimlerin konumlarını bilmek istememizdir. Robotun çevresi ne kadar doğru modellenirse ileriye yönelik planlama davranışları da o kadar başarılı olacaktır. Bu amaçla, duvar bulma, duvar takibi, öndeki ve yandaki engellerden kaçınma, içbükey ve dışbükey köşe dönüşleri, tamponların kontrolü, tekerleğin sıkışma durumundaki kontrolü gibi robotun yapması gereken temel davranışlar geliştirilmiştir. Geliştirilen davranış modeli PIONEER robotlar için tasarlanmış MobilSim simülatörü ve P3-DX robotu ile test edilmiştir. Elde edilen uzaklık bilgilerinden robotun dolaştığı çevrenin haritası başarılı bir şekilde oluşturulmuştur

Anahtar Kelimeler

Gezgin Robotlar, Haritalama, Ultrasonik Mesafe Algılayıcılar.

Behavıor Control And Envıronment Mappıng Wıth Ultrasonıc Range Sensors In Mobıle Robots

Öz

In this study, using the data obtained from ultrasonic range sensors and encoders on a mobile robot, map of the environment around the mobile robot is constructed by occupancy grid method with Bayesian update rule. Purpose of the map building is to know the location of the robot and objects around it. Modelling the environment of the robot accurately will result in more successful behavior planning for the robot. For this purpose, first fundamental behaviors of the robot, such as wall finding, wall following, avoiding front and side obstacles, turning convex and concave corners, controlling bumpers and controlling stalls, are developed. The developed behavior model is simulated with MobilSim simulator which is designed for PIONEER robots, and tested with P3-DX robot. Using the range data, map of the environment of the robot is constructed successfully

Anahtar Kelimeler

Mobile Robots, Mapping, Ultrasonic Range Sensors..

Kaynakça

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