Artikel_The Mobile Robot Control in Obstacle Avoidance_AKT

Kurnia, Adhy Artikel_The Mobile Robot Control in Obstacle Avoidance_AKT. [Artikel Dosen]

Text 24889-53897-2-PB - Copy.pdf Download (6MB)

Abstract

A very challenging problem in mobile robot systems is
mostly in obstacle avoidance strategies. This study aims to
describe how the obstacle avoidance system on mobile
robots works. This system is designed automatically using
fuzzy logic control (FLC) developed using Matlab to help the
mobile robots to avoid a head-on collision. The FLC designs
were simulated on the mobile robot system. The simulation
was conducted by comparing FLC performance to the
proportional integral derivative (PID) controller. The
simulation results indicate that FLC works better with lower
settling time performance. To validate the results, FLC was
used in a mobile robot system. It shows that FLC can control
the velocity by braking or accelerating according to the
sensor input installed in front of the mobile robot. The FLC
control system functions as ultrasonic sensor input or a
distance sensor. The input voltage was simulated with the
potentiometer, whereas the output was shown by the
velocity of DC motor. This study employed the simulation
work in Simulink and Matlab, while the experimental work
used laboratory scale of mobile robots. The results show
that the velocity control of DC motors with FLC produces
accurate data, so the robot could avoid the existing
obstacles. The findings indicate that the simulation and the
experimental work of FLC for mobile robot in obstacle
avoidance are very close.

Item Type:	Artikel Dosen
Subjects:	L Education > L Education (General)
Depositing User:	M.Pd Adhy Kurnia Triatmaja
Date Deposited:	27 Sep 2021 04:57
Last Modified:	27 Sep 2021 04:57
URI:	http://eprints.uad.ac.id/id/eprint/28558

Actions (login required)

View Item