Sensor Network Deployment With Robots For Terrain Coverage

Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Bilişim Enstitüsü, 2009Thesis (M.Sc.) -- İstanbul Technical University, Institute of Informatics, 2009Bu çalışmada çeşitli robot uygulamaları (çim biçme, boyama, temizleme, mayın temizleme ve arama kurtarma işlemleri vb.) ve duyarga temelli ortam izleme uygulamalarında karşılaşılan ortam tarama problemi incelenmekte ve etkin bir çözüm önerilmektedir. Alan taraması bazı mayın temizleme ve arama kurtarma işlemleri gibi gerçek zamanlı uygulamalar için kritik bir temel problem olup, çim biçme, boyama, temizleme gibi günlük uygulamalar için de etkin olarak yürütülmesi gerekmektedir. Ortam tarama yöntemleri ortamın etkin bir şekilde taranmasında önemli role sahiptir. Bu çalışmada robotlarla duyarga temelli bir şekilde ortamın taranmasını sağlayan bir yöntem olan LRV (Least Recently Visited) yönteminin geliştirilmesiyle elde edilen E-LRV (Enhanced - Least Recently Visited) yöntemi anlatılmaktadır. LRV ve E-LRV duyarga düğümlerini artımlı bir şekilde bilinmeyen bir ortama bırakan tekli robot ya da çoklu robot sistemi ile bilinmeyen bir ortamı tarama işlemini gerçekleştirmek üzere tasarlanmıştır. LRV yönteminde ortamı tarayan robot, bir sonraki ziyaret edeceği yer ve gideceği yön konusunda ortama bırakılan duyargalar ve bu duyargaların önerilerini dikkate alarak karar verir. Ortam taramada duyargaların kullanılması, ortam bilgilerinin önceden bilinmesi esasına dayanan çevrimdışı ortam tarama yöntemine ihtiyaç duyulmamasını sağlar. Bilinmeyen ortamın LRV yöntemiyle taranması sırasında ortamdan elde edilen tüm bilgilerin kullanılmamasından kaynaklanan ve ortamın tarama süresinde verimsizliğe yol açan bir durum oluşmaktadır. E-LRV yöntemi LRV yönteminin bu konudaki eksikliklerini gidermek üzere tasarlanmış olup, ortamdan elde edilen bilgilerin en kısa zamanda değerlendirileceği ve ortamın taranması sırasında doğru bilgilerin kullanılmasını sağlayan bir düğüm bırakma stratejisi önermektedir. Player/Stage benzetim ortamı kullanılarak yapılan simülasyonlarda E-LRV yönteminin LRV yöntemine göre ortamı daha kısa sürede taradığı görülmüştür.This work presents the coverage problem which is emerged for both robot applications (e.g., lawn moving, painting, cleaning, mine-removal and search and rescue operations) and sensor-based environment monitoring applications. Efficient area coverage is critical in some of these real-world applications. (e.g., mine-removal and search and rescue operations) and frequently used in daily life practical applications (e.g., lawn moving, painting, cleaning). Coverage criteria are very important for efficient coverage. For this reason E-LRV (Enhanced - Least Recently Visited), an improved version of an existing algorithm LRV (Least Recently Visited) for sensor-based robotic terrain coverage is presented in this work. LRV and E-LRV are both proposed for either a single robot or multi-robot team to cover an unstructured environment by incremental deployment of sensor nodes. The robot employing LRV makes a decision on the next unvisited area and the movement direction by means of the deployed sensors and their suggestions. Using sensors for coverage eliminates the need for mapping the environment which is needed in offline coverage. The information gained from the environment is not used efficiently when considering the coverage of the unknown environment using LRV. E-LRV is designed for the solution to this problem and evaluates the information gained from the environment in an efficient manner when deploying nodes. Simulations are implemented using Player/Stage simulator and the results after these simulations show that E-LRV complete the coverage mission in a shorter time when compared with LRV.Yüksek LisansM.Sc

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