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

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.

Anahtar Kelimeler:

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

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