Engelden Kaçınma Kabiliyetine Sahip Sınırsız Çalışma Alanlı Tele-operasyon

Abstract

Günümüzde birçok alanda kullanılan tele-robotların görev sırasındaki başarısı robotun hareket kabiliyeti ve operatör ile robot arasındaki etkileşime bağlıdır. Mobil robotun hareket kabiliyetini artırmak için robotun her yöne hareket edebilmesine olanak veren farklı yapılarda tüm-yönlü (omni-directional) tekerlekler geliştirilmektedir. Ayrıca tele-operasyon sırasında mobil robotun çevresindeki nesneleri algılayıp çarpışmadan kaçınmasını sağlayacak sistemler tasarlanmaktadır. Bu çalışmada, bağımlı sistemi (slave system) tüm-yönlü bir mobil kara robotu olan sınırsız çalışma alanlı tele-operasyon sitemi geliştirilmiştir. Mobil robotun çevresindeki engelleri algılayıp çarpışmadan kaçınması için iki farklı engelden kaçınma algoritması tasarlanmıştır. Tasarlanan algoritmaların test sonuçları bildiride sunulmuş ve sonuçlar tartışılmıştır.

Full text

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