International Journal of Multidisciplinary Studies and Innovative Technologies

Yazarlar: Zülal TOSUNOĞLU, Serkan KURT

Konular:Mühendislik

Anahtar Kelimeler:Mobil robots,Swarm algorithm,Optimization,3 dimensional space,Pseudo inverse matrix

Özet: In this study, it is provided to determine the optimum position with the joint movement of mobile robots and continuous calibration with a multi-master method in 3D space. Various Swarm Intelligence (SI) algorithms have been examined to determine the appropriate paths that mobile robots must follow during the completion of a known target task. Based on these algorithms, it was found that the Spider Monkey Optimization (SMO) algorithm is in accordance with the targeted optimum path methodology. The position of the mobile robots in relation to each other during synchronized parallel movement along the optimum path determined and the uninterrupted communication of the mobile robots with each other have become critical for the successful completion of the target task by the expansion of the usage areas of the multiple mobile robots. In order to solve these critical issues, mathematical modeling and calibrating of the error position in three dimensional space of multiple mobile robots which have a specific target and synchronized parallel movement in a given route have been studied. Calibration of the error amount in 3-dimensional mathematically modeled position is expressed by the position data calculated according to using pseudo inverse matrix and localization sources such as GPS and access points data of mobile robots. RSSI (Received Signal Strength İndication) information was used to keep mobile robots in uninterrupted communication with each other and not to lose each other within the specified environment. 

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