DEVELOPING A RADIO-CONTROLLED LOG SKIDDER WITH FUZZY-LOGIC AUTONOMOUSCONTROL

This article presents the development of a small, radio-controlled (RC ) log skidder and also discusses the results of a preliminary investig ation into using fuzzy logic for autonomous control of the skidder. Sm all skidders can reduce the environmental impact of logging and help i mprove timber stands. With previous small skidders, the operator walke d in front of the skidder and reached back with one hand to operate th e controls on a handle. The RC skidder allows the operator to be remov ed from the immediate vicinity of the skidder, thus making a safer ope rating environment. Field trials of the RC skidder were conducted and are discussed. A preliminary investigation into using fuzzy logic with ultrasonic sensors for collision avoidance is also presented. A colli sion avoidance system would be one component in an overall autonomous control system that would allow the RC skidder to follow skid trails w ithout guidance from the operator A computer simulation is used to mod el the ultrasonic sensors, and the skidder in a two-dimensional obstac le field. The computer simulations are used with an optimization algor ithm to train the fuzzy logic control system.