Perancangan Robot Mobile Penjejak Dinding Koridor dengan Kendali Logika Fuzzy

Abstract

Environmental conditions can not be predicted pose complex programming by using conventional controllers . Fuzzy Logic is one of the modern controllers are able to work well on systems with non - linear design offers ease of program because it does not require a mathematical model of the process . Input Fuzzy designed with 3 input sensor data that is left , right sensor , and front sensors . Membership function has three inputs with 27 rules . Fuzzy input is processed by the microcontroller ATMEGA 328 with Arduino ROMEO program that will eventually generate a PWM signal used to control the speed of each motor . Type Fuzzy Logic is the method of defuzzification mamdani with COA ( Center Of Area ) . This study aims to design a mobile robot that can track the corridor wall with a feedback control system based on fuzzy control is implemented in the form of hardware and software (microcontroller system) . Fuzzy logic is used to determine the angular speed of the robot . By knowing the angular speed of the robot at any time , the linear speed of the wheels of the robot can be determined . Linear speed of the wheels of the robot will adjust the amount of duty cycle PWM signal on each motor , while trace ( guidance ) in the form of two walls that can be analogized as a corridor . The experimental results show the robot can walk along the corridor with the largest average error of 20 % to the center line corridor