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Please use this identifier to cite or link to this item: http://repository.uksw.edu/handle/123456789/11337
Title: Navigasi Robot Mobil Pengikut Dinding pada Peta Kontes Robot Pemadam Api Berbasis Mikrokontroller dengan Menerapkan Algoritma Logika Fuzzy
Authors: Adi, Prabata Pideksa
Issue Date: 2016
Publisher: Program Studi Teknik Elektro FTEK-UKSW
Abstract: The purpose of this project is to design and implement fuzzy logic algorithm into wall following robot. Robot is designed to navigate automatically and travel around field map effectively and efficiently. The map which is used to test the robot is the same map used in Trinity College Fire-Fighting Home Robot Contest 2016 and also implemented in Kontes Robot Pemadam Api Indonesia 2016 (KRPAI). The map which is used in this project is similar to common houses that we used to live. This map consists of few rooms and also has various floor surfaces. Controlling method based on Proportional-Integral-Derivative (PID) has some disadvantage in its flexibility. In PID based method, designer needs to model the system navigation into mathematical model when navigation system is changed. Otherwise, we can use fuzzy logic as controlling method because the robot using fuzzy logic method can handle various inputs and can be easily modified by designing rule base and correct membership function. Controlling method using fuzzy logic is adapted from human reasoning to control the system. In its navigation, the robot used sonar range finder (SRF) as main sensor to detect object and applied line sensor and infrared sensor as supporting sensor. The robot will travel around the map which has 4 different variations within 3 minutes. The success of the robot navigation depends on the robot’s scratch on wall was less than 2 cm and this robot is not trapped (when doing repetitive movement in one of the room) during the travel. The robot is also expected to be able to travel every room in the field. The other important point of this robot navigation is how many times the robot can travel around the field map and how many object in the map.
URI: http://repository.uksw.edu/handle/123456789/11337
Appears in Collections:T1 - Electrical Engineering

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T1_612011009_Daftar Pustaka.pdfDaftar Pustaka195.36 kBAdobe PDFView/Open
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