Parçacık Sürü Optimizasyon Algoritması Kullanılarak Optimum Robot Yolu Planlama

Abstract

The problem of robot path planning is one of the major problems in the field of robotics and automation. Since the high working speed of the robots requires extreme performance from the control systems, accuracy of the robot movement and path planning is important. In the robot path planning process, from a starting point to the end point, the robot is intended to reach the destination by drawing a geometric path as soon as possible without getting stuck on the existing obstacles. The robot path planning problem is classified as difficult due to the fact that there are many path options in the searched space space and the shortest distance between these paths is decided. Classical robot path planning methods have difficulty finding solutions as the problem becomes more complex. Therefore, in recent years, the importance of heuristic methods for optimum solution of the path planning problem in the field of robotics has been increasing. In the literature, many heuristic algorithms have been used for different applications of the problem for robot path planning problem. In this study, the path planning process is simulated by using Particle Swarm Optimization (PSO) algorithm in order to reach the end point in order to use the shortest path without hitting the obstacles encountered by a robot at the starting point until it reaches the destination. The shortest robot path was calculated by using PSO algorithm according to three different endpoints B (4,6), C (6,8) and D (8,10), whose starting point is fixed A (0,0). Simulations were also performed for each different destination by changing the position of the obstacles in the study. In this way, robot path planning was tried to be solved in three different positions. Since the obstacles used in the study are circular, the mathematical formula of the distance between a point and a line was used to find the distance between the starting and ending points and thus, the circular obstacles were tried to be avoided. The robot path planning problem solving with PSO algorithm is shown with tables and graphs for each case. According to the results of the study with PSO, the shortest calculations of the robot path were found in three different cases. In this way, it is shown that PSO algorithm solutions are applicable for robot path planning.