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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.
In this study, a paleted autonomous vehicle was designed and designed to control the orbit of the autonomous vehicle was carried out using a foolish logic controller (BMD). Multi-purpose designed autonomous vehicle has the features of automatic direction, performing a specific task, carrying cargo to various environments. Different control techniques are used in the orbit control of autonomous vehicles. The performance of the orbital control structure of the autonomous robot was compared with the classic PI controller and comparison studies were carried out using the control system Matlab/Simulink model. It is demonstrated by comparison studies that BMD improves the performance of the system and provides a more stable structure.
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.
Field : Mühendislik
Journal Type : Ulusal
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