Penerapan Metode Fuzzy Sugeno Sebagai Sistem Navigasi Robot Menggunakan Mikrokontroler Arduino dan Sensor Ultrasonik
DOI:
https://doi.org/10.36982/jiig.v9i1.483Abstract
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
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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.References
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