Real Time Fuzzy Based Speed and Direction Angle Control of an Automated Guided Vehicle

Abstract

In this paper a fuzzy controller is applied to velocity and direction angle control of a certain type of wheeled mobile robots called Automated Guided Vehicles (AGVs). The velocity and direction angle of the AGV are controlled to keep the vehicle on desired path. A PI controller is also applied to AGV in order to show the robustness of the fuzzy controller. Experimental results prove that the fuzzy controller shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics. Results are also given for sudden disturbance and extra load conditions and satisfied results are obtained.

Keywords

• Vehicle system, Direction control, Path tracking, Fuzzy control

Otomatik Yönlendirmeli Bir Aracın Gövde Hızı ve Gövde Açısının Bulanık Mantık ile Gerçek Zamanlı Kontrolü

Öz

Bu çalışmada, Otomatik Yönlendirmeli Aracın (OYA) gövde hızı ve gövde açısı kontrolü gerçek zamanlı olarak bulanık mantık kontrolcü ile gerçekleştirilmiştir. OYA’nın gövde hızı ve gövde açısı denetimi ile aracın iki boyutlu düzlemde istenilen yörüngeyi takip etmesi sağlanmıştır. Ayrıca, bulanık mantık kontrolcünün performansı PI kontrolcü ile mukayese edilmiş ve deneysel sonuçlar bulanık mantık kontrolcünün PI kontrolcüye oranla daha kararlı ve daha uygun kontrol işaretleri ürettiğini ve dinamik değişimlere daha hızlı cevap verdiğini göstermiştir. Kontrolcü performansları ayrıca ani harici bozucu etki ve ekstra yük için incelenmiş ve başarılı sonuçlar elde edilmiştir.

Anahtar Kelimeler

• Araç sistemi, Yön kontrolü, Yörünge takibi, Bulanık kontrol

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