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

Yerlikaya Ü., BALKAN R. T.

Robotica, cilt.40, ss.690-719, 2022 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 40
  • Basım Tarihi: 2022
  • Doi Numarası: 10.1017/s026357472100076x
  • Dergi Adı: Robotica
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, DIALNET, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.690-719
  • Anahtar Kelimeler: A* Algorithm, Autonomous Turrets, High-dimensional C-Space, Manifold C-Space, Motion Planning, ALGORITHM
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

© 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.