Nuri Efe TATLI, Pınar OĞUZ EKİM, Dilara FİDAN, Beyzanur KALAYCI, Cem ÇEBER

Lider Takip Metodu ve Kübik Polinom Yol Planlama Algoritmasının Formasyon Kontrollü Çoklu Robot Sistemlerinde Uygulanması

Bu çalışmada, mobil robotların oluşumlarını koruyarak ve lider takip ederek belirli bir yol üzerinde hareketi incelenmiştir. Lider robotun başlangıç ve son konumları ve yönelimleri bilinerek kübik polinom kullanılmış ve yol üzerindeki tüm noktalarda liderin konumları bulunmuştur. Daha sonra eşkenar üçgen oluşumunu sağlamak için homojen dönüşümler ile takipçilerin bulunduğu konumlar hesaplanmıştır. Lider için maksimum hız belirlenerek belirli hesaplamalar ile liderin hız profili hesaplanmıştır. Kontrolör, liderin sağ ve sol motorları için tasarlanmıştır. Takip eden robotların hızlarını bulmak için robotların belirli bir anda olması gereken konum bilgileri kullanılarak hesaplanmıştır. Ortaya çıkan grafikler, robotların belirli açılarda nasıl bir yol oluşturacağını göstermiştir. Robotlar arasında olması gereken mesafe değerleri ile UWB'den (Ultra geniş bant) gelen konum bilgisi Matlab grafiği üzerinde gösterilmiştir. Lider ve takipçi robotların hesaplanan lineer hızları ve istenilen hızları grafiksel olarak gösterilmiştir. Lider robotun sol ve sağ motorları için oluşturulan kontrol diyagramında lineer ve açısal hızların PID'den nasıl etkilendiği gösterilmiştir.

Anahtar Kelimeler:

yol planlama, oluşum kontrolü, lider izleme yöntemi, kübik polinom, mobil robotlar, çok robotlu sistemler, homojen dönüşüm

The Application of Leader Following Method and Cubic Polynomial Path Planning Algorithm with Formation Control on Multi-Robot Systems

In this study, the movement of mobile robots on a certain path by preserving their formation and with a leader-follower was examined. Knowing the initial and final positions and orientations of the leader robot, the cubic polynomial was used and the positions of the leader at all points on the path were found. Then, the positions, where the followers were found with the homogeneous transformations, were calculated in order to provide the equilateral triangle formation. The velocity profile of the leader was calculated with certain calculations by determining the maximum velocity for the leader. Controller has been designed for the leader's right and left motors. In order to find the velocity of the follower robots, it was calculated by using the position information that the robots should be at a certain moment. The resulting graphics showed how the robots would create a path at certain angles. The distance values that should be between the robots and the location information from the UWB (Ultra-wideband) were shown on the Matlab graphics. The calculated linear velocities and desired velocities of the leader and follower robots are shown graphically. In the control diagram created for the left and right motors of the leader robot, it has been shown how the linear and angular velocities are affected by PID.

Keywords:

path planning formation control, leader-following method, UWB (Ultra-wideband), cubic polynomial, mobile robots, multi-robot systems, homogeneous transformation,

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