Modüler robotik yapılarda stratejik planlama

The purpose of this study is to develop a strategic planning algorithm for a modular robotic structure. The algorithm is expected to generate a plan that drives the robotic structure to a target state from its initial state. The plan generated by the developed algorithm is expected to decide and assemble appropriate configurations for the robotic system, to implement configuration-specific locomotion methods and obstacle passing abilities. To implement the strategic planning algortihm, a chain type modular robotic structure whose modules are self-mobile is designed in simulation environment. After the modular robotic structure is designed, a strategic planning algorithm which is hybrid deliberative/reactive is developed and implemented to the designed system. The algorithm is tested in a test parkour created in the simulation environment and it successfully generated a plan that drives the robotic system to its target state .