Dört Mekanum Tekerli Mobil Robot Platformunun Geliştirimesi ve Güvenlik Amacıyla Kullanımı

Günümüzde yüksek işlem gücüne sahip işlemcilerin artması ile robot çalışmaları hız kazanmıştır. Araştırma konuları arasına robotların gündelik işlerde kulanılması girmiştir. Askeri, sağlık, hizmet, eğlence sektörleri gibi birçok alandaki insan iş gücünün yerini robotların aldığı görülmektedir. Güvenlik görevlilerinin güvenliklerini sağladıkları ortamlarda suç işlenmesini önlemek, can mal emniyetini sağlamak, suç işlemeye karşı caydırıcı tedbirlerin alınması ve olaylara müdahale edilmesi için belirli periyotlarla devriye görevi yapılmaktadır. Bu durum olası bir durumda güvenlik görevlisinin zarar görmesine neden olmaktadır. Ayrıca insan gözü dar bir açıda görmektedir. İnsanın görüsü, algılaması pisikolojik ve fizyolojik etkenlere bağlıdır. Bu çalışmada güvenlik görevlilerinin sorumluluk alanı içerisinde tur atma görevini Mekanum tekerli mobil robot platformu ile yapılabileceği gösterilmektedir. Mekanum tekerlerin çok yönlü hareket kabiliyeti sayesinde robot, ortam içerisinde ve dar alanlarda rahatça hareket etmektedir. Çevrenin algılanmasında ve robotun engellere çarpmaması için LIDAR sensör kullanılmıştır. Deneysel çalışmalarda robot E şekline sahip deney ortamında 5 defa tur atmıştır. Her turu aynı noktadan başlatıp aynı noktada bitirmiştir. Kullanılan donanım ve kinematik yapının bu problem için kullanılabilir olduğu gözlemlenmiştir.

Anahtar Kelimeler:

Mekanum teker, Mobil robot, Lazer mesafe sensörü, Bekçi robot

Four Mecanum Wheeled Mobile Robot Platform Development and Use For Security Purposes

Robot studies are rising with the increase of processors with high processing power. The use of robots in daily work is among today's topics. For this reason, it is seen that robots replace human labor in many fields such as military, health, service and entertainment sectors. Security guards are patrolled in their provide security zone for crime prevention, deterrence, safety of life and property and hard stop. In a possible situation, the security guard could be damaged. In addition, the human eye sees at a narrow angle. Human's sensation and perception depends on psychological and physiological factors. In this study, it is shown that the mobile robot platform with Mecanum wheels can perform the task of patrol in the area like security guards. Thanks to the omni directional movement capabilities of the wheels, the robot moves comfortably in confined spaces. Robot sense the environment and obstacle with LIDAR sensor. In experimental studies, the robot patrolled 5 rounds in the experimental environment like E shape. He started each round from the same point and finished at the same point. Observed that the hardware and kinematic structure used can be used for this problem.

Keywords:

Mecanum wheel, Mobile robot, Laser range sensor, Guardbot,

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