论文标题
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İnsansız Araçlarla Düzlemsel Olmayan Araçların Taranması
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论文摘要
换句话说，无人驾驶车辆的区域覆盖范围的重要性随着当今此类车辆使用的增加，带有无人车或无人机的区域（例如机器人或无人机）的重要性正在增加。如今，今天使用了带有无人车辆的区域覆盖范围，用于探索一个带有无人机的区域，带机器人的扫地，在大型购物中心的机器人清洁地面，在大面积的地方进行割草等。该问题具有诸如区域覆盖范围，包括单个无人驾驶车辆的区域覆盖，单个无人驾驶汽车，区域覆盖范围，有多个无人驾驶汽车的覆盖范围（在线覆盖范围）（在线覆盖范围）（在线覆盖范围）（在线覆盖范围）（启动）的范围（在线范围内），均已开始范围。此外，该区域可能会有车辆无法移动的障碍。自然，许多研究正在研究这个问题，并且直到今天就对此问题进行了许多研究。跨越树的覆盖范围是解决问题的主要方法之一。在这种方法中，在基本水平上，根据车辆的视线范围将平面区域分为相同的正方形，并且假定这些正方形的中心被认为是图的顶点。该图的顶点与单位成本的边缘连接，并找到图形的最小跨越树后，车辆绕着跨越树漫步。我们提出的方法提出了一种用无人车辆覆盖非平面区域的方法。我们建议的方法还利用了跨越树的覆盖范围方法，但是我们没有将单位成本分配给边缘，而是使用边缘连接的顶点之间的斜率分配了每个边缘的权重。当我们没有考虑两个正方形之间的斜率并使用经典的生跨树方法时，我们的结果明显好了。
The importance of area coverage with unmanned vehicles, in other words, traveling an area with an unmanned vehicle such as a robot or a UAV completely or partially with minimum cost, is increasing with the increase in usage of such vehicles today. Area coverage with unmanned vehicles is used today in the exploration of an area with UAVs, sweeping mines with robots, cleaning ground with robots in large shopping malls, mowing lawn in a large area etc. The problem has versions such as area coverage with a single unmanned vehicle, area coverage with multiple unmanned vehicles, on-line area coverage (The map of the area that will be covered is not known before starting the coverage) with unmanned vehicles etc. In addition, the area may have obstacles that the vehicles cannot move over. Naturally, many researches are working on the problem and a lot of researches have been done on the problem until today. Spanning tree coverage is one of the major approaches to the problem. In this approach, at the basic level, the planar area is divided into identical squares according to the range of sight of the vehicle, and centers of these squares are assumed to be vertexes of a graph. The vertexes of this graph are connected with the edges with unit costs and after finding the minimum spanning tree of the graph, the vehicle strolls around the spanning tree. The method we propose suggests a way to cover a non-planar area with unmanned vehicles. The method we propose also takes advantage of the spanning-tree coverage approach, but instead of assigning unit costs to the edges, we assigned a weight to each edge using slopes between vertexes those the edges connect. We have gotten noticeably better results than the results we got when we did not consider the slope between two squares and used the classical spanning tree approach.
