WoS İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/8653
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Conference Object Formation Control of Fixed-Wing Uavs Using Mpc: Effect of Vehicle Speed(Ieee, 2024) Ozcelik, Ozge Kartal; Ergezer, HalitAs UAV technology has progressed, its applications have expanded across various sectors such as Surveillance, Military, Maintenance, and Delivery. Due to their cost-effectiveness and safety in operations, UAVs have gained rapid popularity in these domains. Scenarios demanding the coordinated flight of multiple UAVs have become prevalent, leading to various formation types and control strategies tailored to specific use cases. Among these control mechanisms, Model Predictive Control (MPC) has found application in UAV formation flight. This study focuses on the development and implementation of MPC for the formation flight of fixed-wing UAVs. Experiments were conducted utilizing a setup involving three UAVs, elucidating the functionality of MPC and examining the impact of variations in the speed parameter on MPC performance.Conference Object Citation - WoS: 1Evaluation of Features Used in Electromyography Classification(Ieee, 2021) Ergezer, Halit; Alguner, Ayber ErayClassification of electromyography (EMG) signals using machine learning has been studied for a long time. Today, this classification is tried to be made more accurate, fast and applicable by using the methods developed. However, beside this effort, it is suspected that researchers are using features without taking into account the effects on the classification performance, but often by influence of other researches. From this point of view, the effects of some features used in studies published in recent years on classification performance were tested and the results obtained were shared. In the experiments performed using a common method support vector machine (SVM), it was found that increasing the number of features does not always provide an increase in performance, even in some cases, it causes a decrease in accuracy rates.Conference Object Design and Implementation of Visual Simultaneous Localization and Mapping (Vslam) Navigation System(Ieee, 2021) Ergezer, Halit; Bekcan, ArdaIt is very important to guess the location of the redetected objects and loop closures with the visual simultaneous localization and mapping system (VSLAM), one of the biggest problems of a mobile robot. VSLAM makes it possible to eliminate and/or reduce these applications' errors and realize or improve the robot's direction and position correctly by creating a map of the environment. This study aims to achieve an autonomous indoor/outdoor navigation of a ground robot using VSLAM algorithm in an unknown environment using a monocular camera. In this context, the theoretical information was tested in real-world conditions. Performance of localization and loop closing were compared based on the results obtained by experiments