Collision-Free Motion Planning for an Aligned Multiple-Turret System Operating in Extreme Environment

Date

2021-01-01

Author

Yerlikaya, Ümit
Balkan, Raif Tuna

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© The Author(s), 2021. Published by Cambridge University Press.Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward
https://hdl.handle.net/11511/91221

Journal

Robotica

DOI

https://doi.org/10.1017/s026357472100076x

Collections

Department of Mechanical Engineering, Article

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Citation Formats

Ü. Yerlikaya and R. T. Balkan, “Collision-Free Motion Planning for an Aligned Multiple-Turret System Operating in Extreme Environment,” Robotica, pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward.