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

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

doi:10.29130/dubited.1114836

TR EN

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

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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Details

Primary Language

English

Subjects

Engineering

Journal Section

Research Article

Authors

Ahmet Burak Tatar ^*
0000-0001-5848-443X
Türkiye

Alper Kadir Tanyıldızı
0000-0003-3324-5445
Türkiye

Beyda Taşar
0000-0002-2771-3524
Türkiye

Oğuz Yakut
0000-0002-0986-1435
Türkiye

Publication Date

January 26, 2024

Submission Date

May 10, 2022

Acceptance Date

April 18, 2023

Published in Issue

Year 2024 Volume: 12 Number: 1

DOI

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

IZ

https://izlik.org/JA32RG29WZ

APA

Tatar, A. B., Tanyıldızı, A. K., Taşar, B., & Yakut, O. (2024). Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control. Duzce University Journal of Science and Technology, 12(1), 564-585. https://doi.org/10.29130/dubited.1114836

AMA

1.Tatar AB, Tanyıldızı AK, Taşar B, Yakut O. Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control. DUBİTED. 2024;12(1):564-585. doi:10.29130/dubited.1114836

Chicago

Tatar, Ahmet Burak, Alper Kadir Tanyıldızı, Beyda Taşar, and Oğuz Yakut. 2024. “Dynamical Simulation of a Four Legged Robot With Shooting at Targets Using Fuzzy Logic Control”. Duzce University Journal of Science and Technology 12 (1): 564-85. https://doi.org/10.29130/dubited.1114836.

EndNote

Tatar AB, Tanyıldızı AK, Taşar B, Yakut O (January 1, 2024) Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control. Duzce University Journal of Science and Technology 12 1 564–585.

IEEE

[1]A. B. Tatar, A. K. Tanyıldızı, B. Taşar, and O. Yakut, “Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control”, DUBİTED, vol. 12, no. 1, pp. 564–585, Jan. 2024, doi: 10.29130/dubited.1114836.

ISNAD

Tatar, Ahmet Burak - Tanyıldızı, Alper Kadir - Taşar, Beyda - Yakut, Oğuz. “Dynamical Simulation of a Four Legged Robot With Shooting at Targets Using Fuzzy Logic Control”. Duzce University Journal of Science and Technology 12/1 (January 1, 2024): 564-585. https://doi.org/10.29130/dubited.1114836.

JAMA

1.Tatar AB, Tanyıldızı AK, Taşar B, Yakut O. Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control. DUBİTED. 2024;12:564–585.

MLA

Tatar, Ahmet Burak, et al. “Dynamical Simulation of a Four Legged Robot With Shooting at Targets Using Fuzzy Logic Control”. Duzce University Journal of Science and Technology, vol. 12, no. 1, Jan. 2024, pp. 564-85, doi:10.29130/dubited.1114836.

Vancouver

1.Ahmet Burak Tatar, Alper Kadir Tanyıldızı, Beyda Taşar, Oğuz Yakut. Dynamical simulation of a four legged robot with shooting at targets using Fuzzy Logic Control. DUBİTED. 2024 Jan. 1;12(1):564-85. doi:10.29130/dubited.1114836

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

Abstract

Keywords

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

Abstract

Keywords

References

Details

Primary Language

Subjects

Journal Section

Authors

Publication Date

Submission Date

Acceptance Date

Published in Issue

DOI

IZ

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