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

Makale detayları

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

Yazarlar:

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

Yayıncı:

Duzce University

Ana Başlıklar:

Mühendislik

Dergi:

Düzce Üniversitesi Bilim ve Teknoloji Dergisi Vol.12 Issue 1, pp.564-585

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310332

pISSN:

2148-2446

Anahtar kelimeler:

Özet:

 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.

 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.

 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.

 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 9de 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.

Makale detayları

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

Yazarlar:

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

Yayıncı:

Duzce University

Ana Başlıklar:

Mühendislik

Dergi:

Düzce Üniversitesi Bilim ve Teknoloji Dergisi Vol.12 Issue 1, pp.564-585

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310332

pISSN:

2148-2446

Fuzzy Control

Turret System

Four-Legged Robot

Barrel Stabilization

Shooting SimulationBulanık Kontrol

Taret Sistemi

Dört Bacaklı Robot

Namlu Stabilizasyonu

Atış Simülasyonu

Sayı

Makale detayları

Yazarlar: Ahmet Burak Tatar | Alper Kadir Tanyıldızı | Beyda Taşar | Oğuz Yakut

Yayıncı: Duzce University

Ana Başlıklar: Mühendislik

Dergi: Düzce Üniversitesi Bilim ve Teknoloji Dergisi Vol.12 Issue 1, pp.564-585

Belge Tipi: Makale

Yayın Tarihi: 1/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001310332

pISSN: 2148-2446

Sayı

Yazarlar:

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

Yayıncı:

Duzce University

Ana Başlıklar:

Mühendislik

Dergi:

Düzce Üniversitesi Bilim ve Teknoloji Dergisi Vol.12 Issue 1, pp.564-585

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310332

pISSN:

2148-2446