Diferansiyel Sürüşlü Mobil Robotun Bulanık PI Denetleyici Tabanlı Yol Planlamasının Gerçekleştirilmesi

Year 2024, Volume: 19 Issue: 1, 265 - 277, 28.03.2024

Ahmet Top Muammer Gökbulut

https://doi.org/10.55525/tjst.1423794

Abstract

Bu çalışmada, diferansiyel sürüşlü ve dört tekerden tahrikli otonom mobil robotun, optimum yol planlaması için, konum ve hız kontrolü kaskad bağlantılı fuzzy-PI kontrolör ile gerçekleştirilmiştir. Her bir motorun enkoderinden alınan açısal hız bilgileri ile robotun anlık konum ve açı bilgilerini hesaplanmıştır. Referans noktalar ile bu değerler arasındaki açı ve konum hatası bulanık mantık denetleyiciye giriş sinyali olarak uygulanmıştır. Bulanık mantık çıkışından alınan robot açısal ve lineer hız verileri ise kinematik denklemler ile motorlara uygulanacak olan referans hız değerlerine dönüştürülmüştür. Motorların hız kontrolleri bu referans değerler baz alınarak PI kontrolör ile gerçekleştirilmiştir. Bir ve birden fazla referans koordinatlar için gerçekleştirilen çalışma hem MATLAB programında simulasyonda hem de laboratuvar ortamında deneysel olarak gerçekleştirilmiştir. Deneysel olarak yapılan çalışmada, tasarımı gerçekleştirilen Android uygulama ile referans değerler robota bluetooth aracılığıyla gönderilmiştir. Aynı zamanda robotun anlık verileri de yine aynı uygulama üzerinden android cihazda toplanmıştır. Excel formatında toplanan bu veriler mail yolu ile bilgisayara aktarılarak MATLAB programında grafikleri çizdirilmiştir. Alınan sonuçlar incelendiğinde robotun fuzzy-PI kontrolör ile başarılı bir şekilde hem hız hem de konum kontrolünün gerçekleştirildiği görülmüştür.

Keywords

Bulanık mantık, PI, mobil robot, Android uygulama, yol planlama

Project Number

TEKF.19.07.

Realization of Fuzzy-PI Controller-Based Path Planning of Differential Drive Mobile Robot

Abstract

This paper uses a cascade-connected fuzzy-PI controller to control the position and speed of a differential drive and four-wheel drive of an autonomous mobile robot for optimal path planning. The angular speed information obtained from the encoder of each motor and the instantaneous position and angle information of the robot were calculated. The angle and position error between the reference points and these values is applied to the fuzzy logic controller as an input signal. The robot angular and linear speed data obtained from the fuzzy logic output were converted into reference speed values with kinematic equations to be applied to the motors. The speed controls of the motors were carried out with a PI controller based on these reference values. The study was performed both as a simulation in the MATLAB program and experimentally in the laboratory environment for one and more reference coordinates. In the experimental study, reference values were sent to the robot via Bluetooth with the Android application designed. At the same time, the instant data of the robot was also collected on the Android device through the same application. These data collected in Excel format were transferred to the computer via e-mail and the graphics were drawn in the MATLAB program. When the results were examined, it was seen that both speed and position control were successfully implemented with the fuzzy-PI controller for optimum path planning of the robot.

Keywords

Fuzzy logic, PI, mobile robot, Android application, path planning

Supporting Institution

Fırat Üniversitesi

Project Number

TEKF.19.07.

Thanks

Bu çalışma Fırat Üniversitesi Bilimsel Araştırma Projeler Birimi Tarafından TEKF.19.07 proje numarası ile desteklenmiştir. Desteklerinden dolayı teşekkürlerimizi sunarız.

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