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

2021-01-01
Yerlikaya, Ümit
Balkan, Raif Tuna
© 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.
Citation Formats
Ü. Yerlikaya and R. T. Balkan, “Collision-Free Motion Planning for an Aligned Multiple-Turret System Operating in Extreme Environment,” pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward.