OTOMATİK YÖNLENDİRMELİ BİR ARACIN GÖVDE HIZI VE GÖVDE AÇISININ BULANIK MANTIK İLE GERÇEK ZAMANLI KONTROLÜ.

In this paper a fuzzy controller is applied to velocity and direction angle control of a certain type of wheeled mobile robots called Automated Guided Vehicles (AGVs). The velocity and direction angle of the AGV are controlled to keep the vehicle on desired path. A PI controller is also applied to AGV in order to show the robustness of the fuzzy controller. Experimental results prove that the fuzzy controller shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics. Results are also given for sudden disturbance and extra load conditions and satisfied results are obtained. [ABSTRACT FROM AUTHOR]