Rinanto, Noorman and Marzuqi, Irfan and Khumaidi, Agus and T. Sarena, Sryang (2019) Obstacle Avoidance using Fuzzy Logic Controller on Wheeled Soccer Robot. Jurnal Ilmiah Teknik Elektro Komputer dan Informatika, 5 (1). pp. 26-35.
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Abstract
The purpose of this study is to apply Fuzzy Logic Controller on a wheeled soccer robot to avoid the collision with other robots in the field. The robot equipped by an omnidirectional camera as a vision sensor, a mini-PC for the image processing device, a microcontroller to handle I/O system, and three wheel's omnidirectional mover system. Omni-camera produces four input-values, namely: X coordinate ball position, Y coordinate ball position, distance and angle from obstacle to the point of interest in the camera frame. These inputs processed by a mini-PC and then forward to a microcontroller to calculate the output using Fuzzy Logic Controller. The output variables are the movement rate of the robot in the X, and Y coordinate. These outputs will be used by the kinematics controller to manage the speed of three Omni-wheels driven by 24 volts DC motors. The experiment shows a good result with the percentage of the success of the robot catching the ball is around 70% and 80% in avoiding the obstacle. In time performance, the soccer robot with Fuzzy Logic Controller is superior by 4.67 seconds compared to the robot without this method.
Item Type: | Artikel Umum |
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Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
Divisi / Prodi: | Faculty of Industrial Technology (Fakultas Teknologi Industri) > S1-Electrical Engineering (S1-Teknik Elektro) |
Depositing User: | M.Eng. Alfian Ma'arif |
Date Deposited: | 21 Jul 2021 23:27 |
Last Modified: | 21 Jul 2021 23:27 |
URI: | http://eprints.uad.ac.id/id/eprint/26865 |
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