Otonom Quadrotor Sürüleri için Orantısal Navigasyon Tabanlı Merkezi Olmayan Toplu Hareket Algoritması

Date

2017-09-23

Author

Altintas, Oguz Han
Marangalou, Kourosh
Turgut, Ali Emre

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Bu bildiride orantısal navigasyon yaklaşımlarının yeni bir yöntem olarak otonom ve merkezi olmayan multikopter robotların kontrolüne nasıl uygulanabileceği anlatılmaktadır. Burada merkezi olmayan ile kastedilen her bir sürü bireyinin yakınındaki diğer bireylerden edindiği bilgi doğrultusunda bağımsız olarak hareket edebilmesidir. Çalışmada iki farklı iletişim prosedürü kullanılmış olup bunlar eşler arası etkileşim ve odaklanmış etkileşim olarak tanımlanmıştır. Eşler arası etkileşimde her birey en yakınındakine güdümlenirken odaklanmış etkileşimde ise yayını alan diğer bireylerin ortalama konumuna güdümlenmiştir. Buna ek olarak basit bir itme-çekme modeli kullanılarak da bireylerin çarpışma ve saçılma durumları önlenmiştir. Yaklaşım çeşitli sayıda üyelerden oluşan sürü grupları ve sinyal-gürültü oranları altında üyeleri bir araya toplayıp hizalayarak, toplu şekilde hareketi ve bir arada kalmayı başarılı bir şekilde sağlamıştır.

URI

http://www.tok2017.yildiz.edu.tr/docs/TOK-2017-Bildiriler-Kitabi.pdf?ver=8.0
https://hdl.handle.net/11511/76388

Conference Name

TOK 2017 ( 21-23 Eylül 2017)

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

O. H. Altintas, K. Marangalou, and A. E. Turgut, “Otonom Quadrotor Sürüleri için Orantısal Navigasyon Tabanlı Merkezi Olmayan Toplu Hareket Algoritması,” 2017, p. 697, Accessed: 00, 2021. [Online]. Available: http://www.tok2017.yildiz.edu.tr/docs/TOK-2017-Bildiriler-Kitabi.pdf?ver=8.0.