Akademik Veri Yönetim Sistemi
11. Uluslararası Mühendislik ve Teknoloji Yönetimi Kongresi, İstanbul, Türkiye, 16 - 17 Mart 2024, ss.71-78
Autonomous mobile robots are robotic systems capable of navigating through complex environments, avoiding obstacles, and accomplishing tasks by reaching predefined targets. Advanced path planning algorithms are crucial for ensuring the safe and efficient operation of these robots. This study aims to examine the utilization of Dijkstra and Concurrent Dijkstra algorithms to facilitate the effective and secure movement of autonomous mobile robots. Additionally, it seeks to provide a comparative analysis of these algorithms, evaluating their algorithmic efficiency in various scenarios. The study addresses two scenarios. In the first scenario, the problem of finding the shortest path for a single robot in an environment surrounded by static obstacles is solved using the Dijkstra algorithm. A feedback system is implemented using a PID controller, and reference tracking is achieved based on the robot's rotational angle information. The same scenario is replicated using the Concurrent Dijkstra algorithm, which possesses parallel processing capabilities, and the performance of the algorithms is compared. In the second scenario, the objective is for two autonomous mobile robots to safely reach a common goal in an environment surrounded by static obstacles. The shortest path problem is resolved using the Dijkstra algorithm once again. The initial positions of the two robots are intentionally positioned differently. The main robot's rotation angle is dynamically adjusted to minimize collision risks. Similar to the first scenario, a feedback system is established using a PID controller, and reference tracking is achieved based on the robot's rotational angle information.