Motion trajectory planning of a mobile robot flying in a fuzzy environment
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Abstract
Abstract.
This study involved implementing a fuzzy controller approach to create a ground-based control model for an autonomous robot in a stable environment. In addition, a classical control method was developed and tested within the results. With the fuzzy controller approach, it was studied that the robot moves easily in the test environment and goes to desired targets. An autonomous mobile robot aims to minimize the energy consumption of the robot with a fuzzy controller algorithm. The energy consumption for processing time and data error between the coordinates where the robot should go and the coordinates it goes after the operations are completed are calculated separately. By utilizing a fuzzy controller algorithm, the mobile robot is capable of operating in a flexible manner. It was observed that the fuzzy approach performs 10 times faster and more accurately compared to the traditional method. In terms of being open to development and modular, the flying mobile robot fulfilled the functions envisaged in this work. In the future, the direction of a flying robot can be determined using a digital electronic compass to reach longer distances with external sensors.
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References
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