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Fuzzy Logic Positioning of a Vehicle in the Movement Direction
(2020) Yakıştıran, Önder; Yaz, Mustafa
Nowadays, applications of unmanned vehicles are increasing rapidly. Unmanned vehicles are used in many areas such as agriculture, transportation and especially military defense systems. In this study; control of the movement direction of a 4-wheeled unmanned land vehicle is studied with fuzzy logic. In our study, the Cbased software language was used in the Arduino IDE program. As the input information for the control operation with fuzzy logic, the error value of the movement direction and the previous error value are used. The speed of the motors on the unmanned vehicle is used as the output information. Membership functions for input and output information are created using the triangle membership function. After determination of fuzzy rules, Max-Min method was used to obtain fuzzy inference. As the last step of these processes, the defuzzyfication process weight average method is used. The information obtained by the weight average method is the engine speed information that must be transmitted to the motors used in the vehicle. The engines are applied at this speed and the angle at which the vehicle is to be positioned according to the north point.