UYARLAMALI BULANIK MANTIK DENETLEYİCİ TABANLI İNSANSIZ HAVA ARACI (İHA)’NIN ROTA TAKİBİ VE FAYDALI YÜK TAŞIMA PERFORMANSI

Öz

Otonom olarak hareket eden İnsansız Hava Araçlarında (İHA) yük taşıma sistemi sivil ve askeri alanlarda sıklıkla kullanılmaktadır. Coğrafi koşulların elverişsiz olduğu operasyon bölgelerinde belirlenen konumdan alınan faydalı yükün belirli bir rota takip edilerek hedeflenen konuma minimum hata ile bırakılması büyük önem arz etmektedir. Bu tür görevlerin başarıyla gerçekleştirilebilmesi için İHA’nın belirlenen rotayı minimum hata ile takip etmesi gerekmektedir. Bu çalışmada, yük alma bırakma sistemi kullanılarak belirlenen bölgedeki farklı renkli iki özdeş faydalı yükün dört pervaneli İHA tarafından sırasıyla alınarak belirlenen konuma bir rota üzerinden minimum hata ile bırakılabilmesi için bulanık PID denetleyicisi tasarlanmaktadır. Faydalı yük alma, taşıma ve bırakma görevi esnasında elde edilen sonuçlar PID denetleyici performansı ile kıyaslamalı olarak analiz edilmektedir.

Anahtar Kelimeler

• İnsansız Hava Aracı
• Yük Taşıma Sistemi
• Rota Takibi
• Bulanık PID
• Faydalı Yük

ROUTE TRACKING AND PAYLOAD TRANSPORTATION PERFORMANCE OF ADAPTIVE FUZZY LOGIC CONTROLLER BASED UNMANNED AERIAL VEHICLE (UAV)

Öz

In autonomous unmanned aerial vehicles (UAV), the payload transporting system is frequently used in civil and military areas. It is very important that the payload taken from the predetermined location in the operational regions where the geographical conditions are unfavorable is left to the target location with minimum error by tracking a certain route. In order to perform such tasks successfully, the UAV must follow the specified route with minimum error. In this study, two identical payloads of different color in the predetermined region are taken by the UAV respectively, and transported to the target location with minimum error by tracking the defined route. A fuzzy PID controller is designed to perform this task. The results obtained during the payload hold, transport and release task are analyzed in comparison with PID controller performance.

Anahtar Kelimeler

• Unmanned Aerial Vehicle
• Load Transportation System
• Route Tracking
• Fuzzy PID
• Payload

Kaynakça

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