Optimum Enerji Verimliliğini Hedefleyen Rastgele Ağaçlar ve Yapay Arı Kolonisi Yöntemi ile Otonom Robotlarda Yol Planlama Algoritması

Year 2019, Volume: 7 Issue: 4, 903 - 915, 24.12.2019

Yunis Torun , Züleyha Ergül Ahmet Aksöz

https://doi.org/10.29109/gujsc.607996

Cited By: 2

Abstract

Operatörüz
hareket edebilen robotlarda (otonom robotlar) hareket sırasında engellere
çarpmadan, en kısa yol ve en yumuşak yolu seçerek hedef konumuna ulaşması büyük
önem taşımaktadır. Bu çalışımda, yol planlama eylemi sezgisel ve klasik
yöntemlerinin avantajlarını birleştirmek dezavantajlarını minimize etmek için
iki yöntemin melez kullanımı ile gerçekleştirilmiştir. Klasik yöntemlerden
Rastgele ağaçlar yöntemi (Rapidly-exploring Random Tree-RRT) ve sezgisel
yöntemlerden de Yapay Arı Kolonisi yöntemi (Artificial bee colony-ABC) ayrı
ayrı kullanılarak ve daha sonra melez bir yaklaşımla, önceden keşfedilmiş,
başlangıç ve hedef noktası belli haritada optimum yol, MATLAB’ da Robotik
Sistem Araç Kutusu (Robotic System Toolbox) üzerinden benzetimi
gerçekleştirilmiştir. Sunulan melez algoritmada alınan yol hesaplanırken enerji
verimliği ile birlikte yol güvenliği de dikkate alınmıştır. İki tekerli mobil
robotun enerji tüketimini RRT, ABC ve melez RRT-ABC yöntemlerinin kullanılması
ile elde edilen yollarda hesaplanmış ve karşılaştırılmıştır. Yapılan karşılaştırmalar
sonucunda melez algoritmanın daha verimli çalıştığı gözlemlenmiştir.

Keywords

Rastgele Ağaçlar yöntemi, Yapay Arı Kolonisi algoritması, optimum rota planlama, enerji verimliliği, otonom robot

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