Mobil robotun otonom kontrolü için android uygulama tasarımı

Year 2024, Volume: 13 Issue: 2, 448 - 459, 15.04.2024

Ahmet Top , Muammer Gökbulut

https://doi.org/10.28948/ngumuh.1296747

Abstract

Bu çalışmada, farklı alanlarda kullanılmak üzere tasarlanan mobil robotların otonom kontrolü için gerekli referans değerleri sağlamak ve robot bilgilerini toplamak amacıyla Android tabanlı bir uygulama tasarlanmıştır. Bu uygulama ile robot kontrolü için herhangi bir ek donanıma veya bilgisayara ihtiyaç duymadan herhangi bir Android cihaz ile robot kontrol parametreleri sağlanabilmektedir. Uygulama, manuel kontrolün yanı sıra otonom kontrol için bir arayüz sunmakta ve robotun istenilen hedeflere gidebilmesi için robota üç koordinat noktası ve yaklaşım mesafesini gönderebilmektedir. Ayrıca robot hareket etmeye başladığında Bluetooth üzerinden Android cihaza anlık veri alınabilmekte ve robotun anlık konumu cihaz ekranında koordinat düzleminde görüntülenmektedir. Çalışmanın etkinliğini ortaya koymak amacıyla, prototipi gerçekleştirilen robotun PID ve FL kontrolör ile otonom kontrolü, Android cihazdan alınan referanslar doğrultusunda gerçekleştirilmiştir. Aynı zamanda robot hakkında anlık bilgiler Excel dosya uzantısında Android cihaz üzerinde toplanmış, mail yoluyla bilgisayara aktarılmış ve verilerin grafikleri çizdirilmiştir. Çalışma, robotların yalnızca manuel olarak değil, aynı zamanda otonom kontrolünün de Android cihazlar yardımı ile yapılabileceğini göstermiştir.

Keywords

Android uygulama, MIT App İnventor, Robot kontrol

Project Number

TEKF.19.07

Design of an Android application for autonomous control of mobile robot

Abstract

In this study, a mobile application (app) for Android devices (ADs) is designed to gather robot data and supply the reference values needed for the autonomous operation of mobile robots intended for various uses. Robot control settings can be supplied with any AD using this application; no further hardware or computer is needed for robot control. Beyond providing manual control, the application also has an interface for autonomous control. It allows the robot to be directed to certain locations by sending it three coordinate points and the approach distance. Furthermore, as the robot moves, real-time data can be received by Bluetooth (BT) on the AD, and the robot's current position is shown on the device's screen. To demonstrate the efficacy of the study, control of the robot with Proportional-Integral-Derivative (PID) and Fuzzy logic controller (FLC), whose prototype are carried out, was performed per the references received from the AD. Meanwhile, real-time data about the robot was gathered on the same AD with the Excel file extension, mailed to the PC, and data graphs were created. The study has demonstrated that ADs may be used for both manual and autonomous control of robots.

Keywords

Android application, MIT App Inventor, Robot control

Supporting Institution

Fırat Üniversitesi

Project Number

TEKF.19.07

Thanks

This study was supported by Fırat University Scientific Research Projects Unit with the project number TEKF.19.07. Thank you for their support

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