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Collision Free Motion Planning for Double Turret System Operating in a Common Workspace

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  • Robot and Applications
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Abstract

Instead of using the tedious process of turret teaching, 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 6 sequences and their options. In order to find a heuristic path on these 2-D configuration maps, the A* algorithm is implemented, which is usually used to find a heuristic path on Cartesian Workspace. Firstly, 4-D configuration space of the double-turret system is obtained by using the method of intersection of point clouds where the bodies in the system are meshed and converted into points. With the help of random simulations, the sequences and the options of these sequences are provided in an appropriate order. A sample path planning was made to examine the performance of the algorithm and thus the converging options. The results obtained for 3 different converging options were simulated on the model of the double-turret system and it was observed that there was no collision between any bodies in these three options. Hence, a collision free motion planning can be carried out for double-turret system operating in a common workspace.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Middle East Technical University and FNSS Defense Systems Inc., Ankara, Turkey

    Ümit Yerlikaya

  2. Mechanical Engineering, Middle East Technical University, Ankara, Turkey

    R. Tuna Balkan

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  1. Ümit Yerlikaya
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  2. R. Tuna Balkan
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Correspondence to Ümit Yerlikaya.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

The authors would like to thank FNSS Defense Systems Inc. and Scientific and Technological Research Council of Turkey (TÜBİTAK) for their support.

Ümit Yerlikaya was born in Agri, Turkey in 1990. He received his B.S. degree from Hacettepe University in Turkey and an M.S. degree from Middle East Technical University in mechanical engineering and now pursuing a Ph.D. in the same university. His research interests include dynamic modeling, control of electromechanical systems and path planning of co-working robots.

R. Tuna Balkan was born in Manisa, Turkey in 1957. He received his Ph.D. degree in mechanical engineering from the Middle East Technical University (METU), Ankara, Turkey, in 1988. He is currently a professor in Mechanical Engineering Department of METU and the dean of faculty of engineering of METU. Specific areas of interest include real-time control, Kalman filtering, fluid power control, platform stabilization, and industrial robotic applications such as spray painting and arc welding.

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Yerlikaya, Ü., Balkan, R.T. Collision Free Motion Planning for Double Turret System Operating in a Common Workspace. Int. J. Control Autom. Syst. 19, 3487–3502 (2021). https://doi.org/10.1007/s12555-020-0382-0

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  • DOI: https://doi.org/10.1007/s12555-020-0382-0

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