Kendali Logika Fuzzy pada Car Like Mobile Robot (CLMR) Penjejak Garis

FAHMIZAL FAHMIZAL, BUDI BAYU MURTI, DONNY BUDI PRATAMA, AFRIZAL MAYUB

Sari


ABSTRAK

Makalah ini memaparkan perancangan sistem kendali logika fuzzy untuk mengatur kecepatan dan arah sudut steering pada car like mobile robot (CLMR) dengan menggunakan metode Ackermann steering. CLMR penjejak garis dirancang menggunakan 16 buah photodiode, dan terdapat 7 buah membership fuzzfikasi dari pembacaan error dan last error sehingga terbentuk 49 aturan. Untuk menguji perfoma kendali fuzzy pada sistem CLMR dalam mengikuti lintasan garis maka dilakukan pengujian dengan bentuk lintasan berupa garis lurus dan berbelok serta zig-zag dalam satu lintasan putar. Proses variasi nilai keanggotaan fuzzifikasi masukan dan defuzzifikasi keluaran dilakukan sebanyak lima kali. Dari hasil pengujian diperoleh bahwa kendali logika fuzzy yang diaplikasikan pada sistem mampu membuat pergerakan CLMR sukses mengikuti lintasan uji selama 9,38 detik lebih baik 0,53 detik dari kendali PID. Selanjutnya, hasil rancangan sistem CLMR ini merupakan sebuah prototipe self-driving car.

Kata kunci: car like mobile robot, robot penjejak garis, fuzzy, self-driving car

 

ABSTRACT

This paper describes the design of a fuzzy logic control system to adjust the speed and direction of the angle of the steering on the car like mobile robot (CLMR) using the Ackermann steering method. CLMR line tracking is  designed using 16 photodiode pieces, and there are 7 fuzzfication membership from reading error and last error so that 49 rules are formed. To test the fuzzy control performance on the CLMR system in following the line trajectory, it was tested with the form of a straight line and a turn and a zigzag in a rotary track. The process of varying input membership fuzzification values and output defuzzification is done five times. From the test results, it was found that the fuzzy logic control applied to the system was able to make CLMR movement successfully followed the test path for 9.38 seconds better than 0.53 seconds of PID control. Furthermore, the results of the CLMR system design are a prototype self-driving car.

Keywords: car like mobile robot, line tracking robot, fuzzy, self-driving car


Kata Kunci


car like mobile robot, robot penjejak garis, kendali logika fuzzy

Teks Lengkap:

PDF

Referensi


Angeles, J., (2002). Fundamentals of robotic mechanical systems (Vol. 2). New York: Springer-Verlag.

Bojarski, M., Del Testa, D., Dworakowski, D., Firner, B., Flepp, B., Goyal, P., ... & Zhang, X. (2016). End to end learning for self-driving cars. arXiv preprint arXiv:1604.07316.

Maślak, W., & Butkiewicz, B. S. (2013). Autonomous vehicle with fuzzy control. In Signal Processing Symposium (SPS), (pp. 1-6).

Hunt, K. H. (1978). Kinematic geometry of mechanisms (Vol. 7). USA: Oxford University Press.

Baturone, I., Moreno-Velo, F. J., Sánchez-Solano, S., & Ollero, A. (2004). Automatic design of fuzzy controllers for car-like autonomous robots. IEEE Transactions on Fuzzy Systems, 12(4), 447-465.

Chiu, C. S., Lian, K. Y., & Liu, P. (2005). Fuzzy gain scheduling for parallel parking a car-like robot. IEEE Transactions on Control Systems Technology, 13(6), 1084-1092.

El-Khatib, M. M., & Hamilton, D. J. (2006, July). A layered fuzzy controller for nonholonomic car-like robot motion planning. In Mechatronics, 2006 IEEE International Conference on, (pp. 194-198).

Gucrrcro, H. B., Velasquez, A. E. B., Barrero, J. F., Côco, D. Z., Risardi, J. C., Magalhães, D. V., & Becker, M. (2014, October). Orientation (Yaw) Fuzzy controller applied to a carlike mobile robot prototype. In Circuits and Systems (CWCAS), 2014 IEEE 5th Colombian Workshop on, (pp. 1-6).

Liu, Z., Wang, Y., & Lu, T. F. (2011, November). Car-like mobile robot reverse parking: Using fuzzy logic control approach. In Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on, (pp. 77-80).

Ouadah, N., Ourak, L., Hamerlain, M., & Boudjema, F. (2006, November). Implementation of an oriented positioning on a car-like mobile robot by fuzzy control. In IEEE Industrial Electronics, IECON 2006-32nd Annual Conference on, (pp. 4076-4081).

Scicluna, N., Gatt, E., Casha, O., Grech, I., & Micallef, J. (2012, December). FPGA-based autonomous parking of a car-like robot using Fuzzy Logic Control. In Electronics, Circuits and Systems (ICECS), 2012 19th IEEE International Conference on, (pp. 229-232).

Abatari, H. T., & Tafti, A. D. (2013, February). Using a fuzzy PID controller for the path following of a car-like mobile robot. In Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on, (pp. 189-193).

Hasan, K. M., & Al Mamun, A. (2012, May). Implementation of autonomous line follower robot. In Informatics, Electronics & Vision (ICIEV), 2012 International Conference on, (pp. 865-869).

Nath, A. S., Kumar, A., & Malik, T. (2013). Implementation of PID Control to Reduce Wobbling in a Line Following Robot.

Normey-Rico, J. E., Alcalá, I., Gómez-Ortega, J., & Camacho, E. F. (2001). Mobile robot path tracking using a robust PID controller. Control Engineering Practice, 9(11), 1209-1214.

Zadeh, L. A. (1965). Fuzzy sets. Information and control, 8, 3.

MacVicar-Whelan, P. J. (1976). Fuzzy sets for man-machine interaction. International Journal of Man-Machine Studies, 8(6), 687-697.




DOI: https://doi.org/10.26760/elkomika.v6i3.451

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (cetak) : 2338-8323   |  ISSN (elektronik) : 2459-9638    

diterbitkan oleh :

Teknik Elektro Institut Teknologi Nasional Bandung

Alamat : Gedung 20 Jl. PHH. Mustofa 23 Bandung 40124

Kontak : Tel. 7272215 (ext. 206)  Fax. 7202892

Surat Elektronik jte.itenas@itenas.ac.id

_________________________________________________________________________________________________________________________

Terindeks 

________________________________________________________________________________________________________________________

Statistik Pengunjung 

Free counters!

 Web
Analytics Made Easy - StatCounter

Lihat Statistik Jurnal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License