Kapalı Bir Alanda Basit Bir İHA ile Keşif Metodu Tasarımı

Date

2017-09-23

Author

Kucuktabak, Emek Baris
Pelit, Mustafa Melih
Orhan, Zeynep Ozge
Turgut, Ali Emre

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Bu çalışmada önceden bilinmeyen iç mekânları keşfedecek ve haritalayacak otonom bir insansız hava aracı (İHA) sunulmuştur. Dört rotorlu hava aracı lazer mesafe ölçücü, sonar mesafe algılayıcı, atalet ölçüm ünitesi (IMU) ve Ultra geniş bant alıcısı (UWB) ile donatılmıştır. Basit bir engelden kaçınma algoritması ve açıklık bulma algoritması gibi çeşitli algoritmalar sunulmuştur. Bu algoritmalar kullanılarak çarpışma olmadan ilerleme sağlayan özgün bir yol bulma/keşif algoritması geliştirilmiştir. Örnek bir iç mekân Gazebo simülatör paketi kullanılarak modellenmiştir. Son olarak geliştirilen keşif algoritmasıyla duvar takip algoritması zamana karşı keşfedilen alan bakımından karşılaştırılmıştır. Tüm simülasyonlar Gazebo’nun Robot İşletim Sistemi (ROS) ile birleştirilmesi ile gerçekleştirmiştir.

URI

http://www.tok2017.yildiz.edu.tr/docs/TOK-2017-Bildiriler-Kitabi.pdf?ver=8.0

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

E. B. Kucuktabak, M. M. Pelit, Z. O. Orhan, and A. E. Turgut, “Kapalı Bir Alanda Basit Bir İHA ile Keşif Metodu Tasarımı,” 2017, p. 666, Accessed: 00, 2021. [Online]. Available: http://www.tok2017.yildiz.edu.tr/docs/TOK-2017-Bildiriler-Kitabi.pdf?ver=8.0.