Penerapan Metode Fuzzy Sugeno Sebagai Sistem Navigasi Robot Menggunakan Mikrokontroler Arduino dan Sensor Ultrasonik

Authors

  • Husnawati Husnawati Universitas Indo Global Mandiri

DOI:

https://doi.org/10.36982/jiig.v9i1.483

Abstract

Abstract

In the era of industrial technology and automation, robots are widely used as a tool that can ease human work, so the robot which has a good control system is needed so that the work done by the robot can be optimized. The development of control systems in robots is currently quite rapid along with increasingly diverse human needs. Several methods are applied to the robot control system automatically. Fuzzy logic is a method that is most used in navigating robot motion. In this study will be applied Sugeno type fuzzy logic method as a robot navigation system which embedded in Arduino Uno microcontroller and ultrasonic sensor is used as distance input value, in each robot path is given 30 cm obstacle so that the PWM value generated by the robot can be measured. The results obtained in this study is the Sugeno fuzzy logic method which embedded in the Arduino Uno microcontroller can control the motion of the robot and avoid the obstacles in the environment well.

Keywords: Control System, Navigation, Fuzzy Logic, Arduino, Ultrasonic Sensor

 

Abstrak

Pada era teknologi dan otomasi industri saat ini banyak digunakan robot sebagai alat bantu yang dapat meringankan pekerjaan manusia, sehingga dibutuhkan robot yang memiliki sistem pengendalian yang baik agar pekerjaan yang dilakukan oleh robot tersebut dapat lebih optimal. Perkembangan sistem pengendalian pada robot saat ini cukup pesat seiring dengan kebutuhan manusia yang semakin beragam. Beberapa metode banyak diterapkan pada sistem pengendalian robot secara otomatis. Logika fuzzy merupakan metode yang banyak digunakan dalam navigasi gerak robot. Sehingga pada penelitian ini akan diterapkan metode logika fuzzy dengan tipe Sugeno sebagai sistem navigasi robot yang ditanamkan pada mikrokontroler Arduino uno dan digunakan sensor ultrasonik sebagai nilai inputan jarak, pada masing – masing lintasan robot diberikan halangan sejauh 30 cm sehingga nilai pwm yang dihasilkan oleh robot dapat terukur. Hasil yang diperoleh pada penelitian ini adalah metode logika fuzzy Sugeno yang ditanamkan pada mikrokontroler Arduino uno dapat mengendalikan gerak robot dan menghindari halangan yang berada di sekitar lingkungan dengan baik.

Kata kunci : Sistem Kendali, Navigasi, Logika Fuzzy, Arduino, Sensor Ultrasonik.

Author Biography

Husnawati Husnawati, Universitas Indo Global Mandiri

Fakultas Ilmu Komputer

References

Aribowo, F. W., & Setiawan, I. 2008. Penjejak Arah Cahaya Dengan Kendali Logika. Jurnal Teknik Elektro, 144–150.

El-teleity, S. A., Nossair, Z. B., Abdel-Kader Mansour, H. M., & TagElDein, A. 2011. Fuzzy Logic Control of an Autonomous Mobile Robot. IEEE, 11, 188–193.

Fahmizal, & Kuo, C. H. 2013. Development of a fuzzy logic wall following controller for steering mobile robots. In fuzzy 2013 - 2013 International Conference on Fuzzy Theory and Its Applications (pp. 7–12). http://doi.org/10.1109/iFuzzy.2013.6825401

Farooq, U., Khalid, A., Amar, M., Habiba, A., Shafique, S., & Noor, R. 2010. Design and Low-Cost Implementation of a Fuzzy Logic Controller for Wall Following Behavior of a Mobile Robot, 740–746.

Henrique V, da S., Morooka, C. K., Guilherme, I. R., da Fonseca, T. C., & Mendes, J. R. P. 2005. Leak detection in petroleum pipelines using a fuzzy system. ELSEVIER, Journal of Petroleum Science and Engineering, 49, 223–238. http://doi.org/10.1016/j.petrol.2005.05.004

Husnawati, H., F, G. F., & Nurmaini, S. 2016. Optimisasi Mobile Robot Pendeteksi Sumber Gas Menggunakan Metode Hybrid. Annual Research Seminar, 2(1), 56–59.

Husnawati, H., GF, F., & Nurmaini, S. 2017. The Development of Hybrid Methods in Simple Swarm Robots for Gas Leak Localization.pdf. International Conference on Signals and Systems (ICSigSys) The, 197–202.

Jian, F., & Zhang, H.-G. 2005. Diagnosis and Localization of Pipeline Leak Based on Fuzzy. IEEE, 31(3).

Johnson, J. 2015. Indoor navigation of mobile robot using fuzzy logic controller. 2015 3rd International Conference on Signal Processing, Communication and Networking (ICSCN), 1–7. http://doi.org/10.1109/ICSCN.2015.7219873

Melin, P., & Castillo, O. 2014. A review on type-2 fuzzy logic applications in clustering, classification and pattern recognition. Applied Soft Computing Journal, 21, 568–577. http://doi.org/10.1016/j.asoc.2014.04.017

Omrane, H., Masmoudi, M. S., & Masmoudi, M. 2016. Fuzzy Logic Based Control for Autonomous Mobile. Computational Intelligence and Neuroscience, 2016, 1–10. http://doi.org/http://dx.doi.org/10.1155/2016/9548482

Pandey, A., Sonkar, R. K., Pandey, K. K., & Parhi, D. R. (2014). Path Planning Navigation of Mobile Robot With Obstacles Avoidance Using Fuzzy Logic Controller.

Setiawan, I., Darjat, & Septiaji, A. 2008. Perancangan Robot Mobil Penjejak Dinding Koridor Menggunakan Kendali Logika Fuzzy. Eprints Universitas Diponegoro.

Yelane, A. A., Pawar, S. B., Vaidya, P. S. R., Engg, E. C., & Selukate, S. D. C. E. 2016. Design Approach of a Shortest Path for Robot Navigation Using Fuzzy, 3–6.

Downloads

Published

2018-08-31

How to Cite

Husnawati, H. (2018). Penerapan Metode Fuzzy Sugeno Sebagai Sistem Navigasi Robot Menggunakan Mikrokontroler Arduino dan Sensor Ultrasonik. Jurnal Ilmiah Informatika Global, 9(1). https://doi.org/10.36982/jiig.v9i1.483

Issue

Section

Articles