Modeling a Tracked Mobile Robot and Trajectory Control by Using Fuzzy Logic

Yıl 2020, Cilt: 35 Sayı: 2, 357 - 368, 30.06.2020

Osman Doğmuş , Mahit Güneş

https://doi.org/10.21605/cukurovaummfd.792422

Öz

In this study, a tracked autonomous vehicle was designed and the trajectory control of the designed autonomous vehicle has been carried out using a fuzzy logic controller (FLC). The multi-purpose autonomous vehicle has the features of automatic steering, performing a specific task, carrying loads to various environments. Different control techniques are used in the trajectory control of autonomous vehicles. The performance of the orbital control structure of the autonomous robot has been compared with the classical PI controller and simulation studies were realized by using the control system Matlab/Simulink model. It has been demonstrated by simulation studies that BMD increases the performance of the system and provides a more stable structure.

Anahtar Kelimeler

Tracked mobile robot, Dynamic modeling, Kinematic modeling, PI, FLC

Paletli Bir Mobil Robotun Modellenmesi ve Bulanık Mantık ile Yörünge Kontrolü

Öz

Bu çalışmada, paletli otonom bir araç tasarlanmış olup tasarlanan otonom aracın yörünge kontrolü bulanık mantık denetleyici (BMD) kullanılarak gerçekleştirilmiştir. Çok amaçlı tasarlanan otonom araç, otomatik yönlendirme, belirli bir görevi icra etme, çeşitli ortamlara yük taşıyabilme özelliklerine sahiptir.
Otonom araçların yörünge kontrolünde farklı kontrol teknikleri kullanılmaktadır. Otonom robotun yörünge kontrol yapısının performansını klasik PI denetleyici ile karşılaştırılmış ve kontrol sistemi Matlab/Simulink modeli kullanılarak benzetim çalışmaları gerçekleştirilmiştir. BMD’nin sistemin performansını artırdığı ve daha kararlı bir yapı sağladığı gerçekleştirilen benzetim çalışmaları ile ortaya konulmuştur.

Anahtar Kelimeler

Paletli mobil araç, Dinamik modelleme, Kinematik modelleme, PI, BMD

Kaynakça

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