Rancang bangun robot penghindar rintangan berbasis Fuzzt Logic Control

Fauzi, Fikri Ahmad (2021) Rancang bangun robot penghindar rintangan berbasis Fuzzt Logic Control. Diploma thesis, UIN Sunan Gunung Djati Bandung.

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Abstract

Technological developments in the field of mobile robots continue to progress very rapidly. In the development of autonomous robots, navigation is one part that has an important role. Therefore, the mobile robot must be able to adapt to the surrounding environment. So we need a control method that can help the robot adjust the dynamics of the surrounding environment. In this research, three ultrasonic sensors HC-SR04 are used, mounted on the front of the robot and Arduino MEGA 2560 as the microcontroller. To make the robot movement more stable when avoiding obstacles, a fuzzy logic algorithm is implemented to control the PWM of the right and left motors. Testing the fuzzy system on the robot is carried out with a scenario where the robot detects obstacles with a distance of 5 cm for the right sensor, 17 cm for the left sensor, and 8 cm for the middle sensor. By comparing the output of the fuzzy-based obstacle avoidance robot with the output of the simulation results, it is obtained that fuzzy logic has been successfully implemented on the robot with a success rate of 99.998% for the right motor and 99.086% for the left motor. Furthermore, the response test on the fuzzy system on the robot was carried out, and the settling time values for the middle and right sensors were obtained at 1.1 seconds and 1 second. Apart from that, the middle and right sensor’s overshoot values are 10% and 2.5%, and the steady-state error values for the middle and right sensors are 2.5% and 5%, respec�tively. Next, in the comparison test of robot maneuvers using the fuzzy method with robots without using fuzzy, the results show that robots using fuzzy logic control methods are more stable in maneuvering to avoid obstacles because robots that use fuzzy can adapt to the dynamics of the environment they face.

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