Implementation of obstacle avoidance and autonomous guidance control with fuzzy logic for remote interactive ground vehicle

Nowadays, while autonomous control applications are becoming increasingly widespread, traditional land vehicles have also been significantly affected by technological developments. The ability of autonomous vehicles to distinguish themselves from traditional vehicles is that they can advance to the set target without human intervention. An autonomous vehicle can determine how to reach its target point by referencing its location. On this basis, it first decides the direction that should move, then perceives the obstacles in front of it, and then reaches the position it needs to reach by overcoming those obstacles. In this thesis study, a prototype land vehicle was designed by placing the necessary materials on it. An autonomous control application has been implemented to perform direction determination and obstacle avoidance tasks. In the experimental study, using a traditional steering system instead of a tank pallet in the vehicle steering system was preferred. A servo motor was used for steering movement control. A low-speed, high-torque direct current motor was used to move the vehicle. The vehicle has an Arduino Mega Programming card as a control unit. There is also a compass sensor module for direction determination and a GPS module for reading location information. Test studies have been carried out on four different scenarios for autonomous vehicle control, and the results have shown that the direction detection and obstacle avoidance algorithms applied to reach the targeted location can be applied in real-life scenarios with similar purposes.