Üç Boyutlu Uzayda Çok Yöneticili Mobil Robotlar ile Sürü Hareketi Planlaması

Bu çalışmada üç boyutlu uzayda çok yöneticili bir yöntem ile mobil robotların ortak hareketi ve sürekli kalibrasyon ile optimum konum belirlenmesi sağlanmıştır. Mobil robotların bilinen bir hedef görevi tamamlaması süresince izlemesi gereken uygun yolların belirlenmesi üzerine çeşitli Sürü Zekası (SZ) algoritmaları incelenmiştir. İncelenen bu algoritmalardan yola çıkılarak Örümcek Maymun Optimizasyon (ÖMO) algoritmasının hedeflenen optimum yol belirleme metodolojisine uygun olduğu görülmüştür. Çoklu mobil robotların kullanım alanlarının genişlemesi ile belirlenen optimum yol boyunca senkronize paralel hareketi sırasında birbirine göre konum belirlemesi ve mobil robotların birbiri ile sürekli iletişimde olması hedef görevin başarılı şekilde tamamlanması açısından kritik hale gelmiştir. Bahsedilen kritik konulara çözüm geliştirmek amacıyla belirli bir hedefe sahip ve belirli bir rota içerisinde senkronize paralel hareket eden çoklu mobil robotların üç boyutlu uzayda birbirine göre konumunun matematiksel olarak modellenmesi ve bu konumdaki hata miktarının kalibre edilmesi üzerine çalışılmıştır. Matematiksel olarak modellenen üç boyutlu konumdaki hata miktarının kalibrasyonu mobil robotların GPS ve erişim noktaları gibi konumlandırıcı verileri ve sözde ters matriside (pseudo inverse matrix) kullanılarak hesaplanan konum bilgisi ile ifade edilmiştir. Mobil robotların birbiri ile sürekli halde iletişimde olması ve birbirlerini belirlenen ortam sınırları içerisinde kaybetmemeleri için alınan sinyal gücü göstergesi (RSSI- Received Signal Strength Indication) bilgilerinden yararlanılmıştır.

Anahtar Kelimeler:

Mobil robotlar, sürü algoritması, optimizasyon, üç boyutlu uzay, sözde ters matris

Swarm Movement Planning with Multi Master Robots in 3D Space

In this study, it is provided to determine the optimum position with the joint movement of mobile robots and continuous calibration with a multi-master method in 3D space. Various Swarm Intelligence (SI) algorithms have been examined to determine the appropriate paths that mobile robots must follow during the completion of a known target task. Based on these algorithms, it was found that the Spider Monkey Optimization (SMO) algorithm is in accordance with the targeted optimum path methodology. The position of the mobile robots in relation to each other during synchronized parallel movement along the optimum path determined and the uninterrupted communication of the mobile robots with each other have become critical for the successful completion of the target task by the expansion of the usage areas of the multiple mobile robots. In order to solve these critical issues, mathematical modeling and calibrating of the error position in three dimensional space of multiple mobile robots which have a specific target and synchronized parallel movement in a given route have been studied. Calibration of the error amount in 3-dimensional mathematically modeled position is expressed by the position data calculated according to using pseudo inverse matrix and localization sources such as GPS and access points data of mobile robots. RSSI (Received Signal Strength İndication) information was used to keep mobile robots in uninterrupted communication with each other and not to lose each other within the specified environment.

Keywords:

Mobil robots, Swarm algorithm, Optimization, 3 dimensional space, Pseudo inverse matrix,

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