- Journal of New Results in Engineering and Natural Sciences
- Cilt: 2023 Sayı: 19
- Investigation of Path Planning in Swarm Robotics with Rapidly Exploring Random Tree-Pure Pursuit Col...
Investigation of Path Planning in Swarm Robotics with Rapidly Exploring Random Tree-Pure Pursuit Collaboration-Based Algorithm
Authors : Müsemma Altindaş, Levent Gökrem
Pages : 27-40
View : 33 | Download : 26
Publication Date : 2024-01-03
Article Type : Other
Abstract :In this study, an RRT-Pure Pursuit collaboration-based algorithm was developed for path planning behavior in swarm robotics. A path planning approach has been proposed so that the swarm robots can reach the target location from the starting location in the determined arenas. In addition, this developed algorithm aims to ensure that the swarm robots avoid obstacles in the path planning process. In this study, the applicability of the path planning approach on flexible and scalable swarm robotics has been demonstrated. With the developed algorithm, each swarm robot exhibits swarm behavior in three different arenas in an organized manner depending on the distance to look forward to the path to be followed to reach the target location. In the RRT-Pure Pursuit-based collaborative algorithm, an unobstructed path is created in arenas between a predetermined start and target location. It is aimed to follow the path created with the Pure Pursuit algorithm. In the developed algorithm, l_d value of 0.5 and robot numbers 3,5 and 7 were examined in 3 different arenas. As the number of robots increases, the simulation completion times increase. In other words, the number of robots in the arena and the simulation completion time are directly proportional. And according to the obstacles in the arenas and the distance to the target location, the distances traveled by the robots vary.Keywords : Yol Planlama, Engelden Kaçma, Sürü robotiği, Mobil Robotlar, Yol takip etme