Bulanık Mantık Kontrolü kullanarak hedeflere atış yapan dört bacaklı bir robotun dinamik simülasyonu

Year 2024, Volume: 12 Issue: 1, 564 - 585, 26.01.2024

Ahmet Burak Tatar , Alper Kadir Tanyıldızı , Beyda Taşar , Oğuz Yakut

https://doi.org/10.29130/dubited.1114836

Abstract

Bu çalışma, savunmada caydırıcılığı artırmak için engebeli arazi ve farklı çevre koşullarında dört bacaklı bir robot üzerine monte edilmiş silah ile hedefleri takip etmeyi ve vurmayı amaçlamaktadır. Sistemin dinamik hareketleri düzlemsel olarak modellenmiş ve yürüme hareketinde kullanılmıştır. Yürürken robot bacak eklemlerini kontrol etmek için PID kontrolü kullanılmıştır. Yürüme hareketi nedeniyle, bozucu etkiler altında hedef takip ve atış simülasyonlarının başarısı incelenmiştir. Koordinatları rastgele belirlenen hedeflerin takibi için namlu yükseklik açısı hesaplanmıştır. Robotun hedefleri maksimum 0,6° hata ile 3°, 6° ve 9°'de takip ettiği gözlemlenmiştir. Ayrıca 10 farklı koordinatta bulunan sabit hedeflere atışlar yapılmıştır. Maksimum atış hatası değerinin 16 cm olduğu görülmüştür. Dolayısıyla bu çalışma savunma sanayisine önemli katkılar sağlayacaktır.

Keywords

Bulanık Kontrol, Taret Sistemi, Dört Bacaklı Robot, Namlu Stabilizasyonu, Atış Simülasyonu

Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control

Abstract

This study aims to track and shoot targets with a gun mounted on a quadruped robot in rough terrain and different environmental conditions for increase deterrence in defense. The dynamic movements of the system were modelled as planarly and it was used in walking movement. PID control was used for control the robot leg joints while walking. Because of the walking motion, the success of the target tracking and shooting simulations was examined under the disruptive effects. In order to track the targets whose coordinates were randomly determined and the elevation angle was calculated. It was observed that the robot tracked the targets at 3°, 6° and 9° with a maximum error of 0.6°. In addition, shootings were made to fixed targets located at 10 different coordinates. It was seen that the maximum shooting error value was 16 cm. So, this study will make important contributions to the defense industry.

Keywords

Fuzzy Control, Turret System, Four-Legged Robot, Barrel Stabilization, Shooting Simulation

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