TORCS oyun ortamında bulanık mantık tabanlı akıllı bir otonom araç kontrol sistemi tasarımı

Yıl 2018, Cilt: 24 Sayı: 8, 1435 - 1442, 29.12.2018

Ersin Armağan Tufan Kumbasar

Öz

Bu çalışmada TORCS (The Open Racing Car Simulator)
oyun ortamında bulanık mantık tabanlı otonom araç kontrol sistemi tasarımı
yapılmıştır. Bu çalışmadaki amaç, aracın yol bariyerlerine çarpasını
engelleyerek hiçbir zarar almadan ve yol sınırları içerisinde kalmasını
sağlayarak pistin dışına çıkmadan yarışı tamamlamasıdır. Bu bağlamda, aracın
otonom bir şekilde ilerleyebilmesi için bulanık mantık ve klasik kontrol
yapılarından oluşan akıllı bir sistem geliştirilmiştir. Aracın vites geçişleri
otomatik hale getirildikten sonra aracın gerçekçi bir şekilde
hızlanması/yavaşlamasını sağlamak ve de aracın sabit bir hızda gitmesi için
bulanık mantık tabanlı bir gaz/fren kontrol sistemi tasarlanmıştır. Ayrıca,
aracın pistin dışına çıkmadan ilerleyebilmesi ve de virajlarda pist içinde kalabilmesi
için bulanık mantık tabanlı bir direksiyon kontrol sistemi geliştirilmiştir.
Geliştirilen bu uzman tabanlı sistem sayesinde, aracın önünde bulunan virajın
yönüne ve keskinliğine göre de aracın bulunması gereken uygun pozisyon
hesaplanmıştır. Geliştirilen akıllı kontrol sistemin oyun performansına https://youtu.be/qOvEz3-PzRo
bağıntısından ulaşılabilir.

Anahtar Kelimeler

Akıllı kontrol sistemler, Bulanık mantık, Benzetim, TORCS

A fuzzy logic based intelligent autonomous vehicle control system design in the TORCS game environment

Öz

In
this study, a fuzzy logic based autonomous vehicle control system is designed
and tested in The Open Racing Car Simulator (TORCS) environment. The purpose of
this study is that vehicle complete the race without to get any damage with
preventing to hit to the barriers and to go out of the way with staying in
boundary of the road. In this context, an intelligent control system composed
of fuzzy logic and conventional control structures has been developed such that
the racing car is able to compete the race autonomously. Once the vehicle's
gearshifts have been automated, a fuzzy logic based throttle/brake control
system has been designed such that the racing car is capable to
accelerate/decelerate in a realistic manner as well as to drive at desired
velocity. The steering control problem is also handled to end up with a racing
car that is capable to travel on the road even in the presence of sharp curves.
In this context, we have designed a fuzzy logic based positioning system that
uses the knowledge of the curvature ahead to determine an appropriate positon.
The game performance of the developed intelligent control system can be
observed from https://youtu.be/qOvEz3-PzRo

Anahtar Kelimeler

Intelligent control systems, Fuzzy logic, Simulation, TORCS

Kaynakça

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