Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots
It is of high importance for autonomous robots that no collision occurs during operation and the target position is reached by using the softest and shortest route. While using the defined route, maximum efficiency is achieved by minimizing energy consumption. Thus, route calculation and optimizatio...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Gazi University
2019-12-01
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| Series: | Gazi Üniversitesi Fen Bilimleri Dergisi |
| Subjects: | |
| Online Access: | https://dergipark.org.tr/tr/download/article-file/878480 |
| _version_ | 1797919658649583616 |
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| author | Yunis TORUN Züleyha ERGÜL Ahmet AKSÖZ |
| author_facet | Yunis TORUN Züleyha ERGÜL Ahmet AKSÖZ |
| author_sort | Yunis TORUN |
| collection | DOAJ |
| description | It is of high importance for autonomous robots that no collision occurs during operation and the target position is reached by using the softest and shortest route. While using the defined route, maximum efficiency is achieved by minimizing energy consumption. Thus, route calculation and optimization are one of the most important criteria’s when it comes to continuous improvement. In this study a hybrid of heuristic and classic route planning approaches have been used to
combine their advantages while minimizing the disadvantages of each method. Initially the optimum route for a defined starting and destination point was determined by using Rapidly exploring Random Tree-RRT method of the classic approach and artificial bee colony-ABC method of the heuristic approach separately. Afterwards a hybrid approach was used and compared by using the Robotic System Toolbox of MATLAB. The results of the study show that energy consumption of a two wheeled mobile robot is higher when using either pure heuristic approach in comparison to a RRT-ABC hybrid approach. |
| first_indexed | 2024-04-10T13:49:05Z |
| format | Article |
| id | doaj.art-9ff5409fa81c435a94ff9f5fd94b6197 |
| institution | Directory Open Access Journal |
| issn | 2147-9526 |
| language | English |
| last_indexed | 2024-04-10T13:49:05Z |
| publishDate | 2019-12-01 |
| publisher | Gazi University |
| record_format | Article |
| series | Gazi Üniversitesi Fen Bilimleri Dergisi |
| spelling | doaj.art-9ff5409fa81c435a94ff9f5fd94b61972023-02-15T16:10:50ZengGazi UniversityGazi Üniversitesi Fen Bilimleri Dergisi2147-95262019-12-017490391510.29109/gujsc.607996Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous RobotsYunis TORUNZüleyha ERGÜLAhmet AKSÖZIt is of high importance for autonomous robots that no collision occurs during operation and the target position is reached by using the softest and shortest route. While using the defined route, maximum efficiency is achieved by minimizing energy consumption. Thus, route calculation and optimization are one of the most important criteria’s when it comes to continuous improvement. In this study a hybrid of heuristic and classic route planning approaches have been used to combine their advantages while minimizing the disadvantages of each method. Initially the optimum route for a defined starting and destination point was determined by using Rapidly exploring Random Tree-RRT method of the classic approach and artificial bee colony-ABC method of the heuristic approach separately. Afterwards a hybrid approach was used and compared by using the Robotic System Toolbox of MATLAB. The results of the study show that energy consumption of a two wheeled mobile robot is higher when using either pure heuristic approach in comparison to a RRT-ABC hybrid approach.https://dergipark.org.tr/tr/download/article-file/878480rapidly-exploring random treeartificial bee colony algorithmoptimum path planningenergy efficiencyautonomous robots |
| spellingShingle | Yunis TORUN Züleyha ERGÜL Ahmet AKSÖZ Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots Gazi Üniversitesi Fen Bilimleri Dergisi rapidly-exploring random tree artificial bee colony algorithm optimum path planning energy efficiency autonomous robots |
| title | Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots |
| title_full | Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots |
| title_fullStr | Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots |
| title_full_unstemmed | Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots |
| title_short | Aiming of Optimum Energy Efficiency with Rapidly-Exploring Random Tree and Artificial Bee Colony Path Planning Algorithm for Autonomous Robots |
| title_sort | aiming of optimum energy efficiency with rapidly exploring random tree and artificial bee colony path planning algorithm for autonomous robots |
| topic | rapidly-exploring random tree artificial bee colony algorithm optimum path planning energy efficiency autonomous robots |
| url | https://dergipark.org.tr/tr/download/article-file/878480 |
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