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- Title
SEKTÖREL GRİD TEMELLİ MİHVERLEME YÖNTEMİ VE GENETİK ALGORİTMALARLA İNSANSIZ KARA ARACI NAVİGASYONU.
- Authors
Aksoy, Rafet; Kurnaz, Sefer
- Abstract
In this study, autonomous navigation of an Unmanned Ground Vehicle moving in an unknown environment is realized with Genetic Algorithms using Sectoral Grid Based Axising Method. For the algorithm, three dimensional environment is reduced to two dimensional numerical matrix. Terrain structure as well as obstacles are mapped one to oneon to the matrix. Coding is based upon modularity for integrating real sensing and localization inputs into the matrix including error rates. Mathematical formulization is build over Cartesian Coordinate System for computational simplicity. Simulations are made in intense obstacle and severe terrain conditions. The algorithm's performance is tested and the results are discussed.
- Subjects
STUDY &; teaching of navigation; REMOTELY piloted vehicles; GENETIC algorithms; CODING theory; REMOTE sensing; MATRICES (Mathematics); LOCALIZATION theory; SIMULATION methods &; models
- Publication
Journal of Aeronautics & Space Technologies / Havacilik ve Uzay Teknolojileri Dergisi, 2009, Vol 4, Issue 1, p33
- ISSN
1304-0448
- Publication type
Article