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


Yerlikaya Ü., BALKAN R. T.

Robotica, vol.40, pp.690-719, 2022 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 40
  • Publication Date: 2022
  • Doi Number: 10.1017/s026357472100076x
  • Title of Journal : Robotica
  • Page Numbers: pp.690-719
  • Keywords: A* Algorithm, Autonomous Turrets, High-dimensional C-Space, Manifold C-Space, Motion Planning, ALGORITHM

Abstract

© 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.