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Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Published online by Cambridge University Press:  16 June 2021

Ümit Yerlikaya Open the ORCID record for Ümit Yerlikaya [Opens in a new window]  and
R.Tuna Balkan
Ümit Yerlikaya*
Affiliation:
Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey
R.Tuna Balkan
Affiliation:
Department of Mechanical Engineering, Middle East Technical University, Ankara, Turkey
*
*Corresponding author. Email: yerlikaya04@gmail.com
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Abstract

Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

Keywords

A* AlgorithmAutonomous TurretsHigh-dimensional C-SpaceManifold C-SpaceMotion Planning
Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 690 - 719
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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