PERANCANGAN ROBOT MOBIL PENJEJAK DINDING KORIDOR MENGGUNAKAN KENDALI LOGIKA FUZZY

Abstract

Robotical engineering development is growing beyond our expectation recently, into the next level, in which robot automation has been implemented in higher level intelligence with less human operator getting involved. In this kind of high level intelligence, robot automation is working in 3 processes, i.e. data input (collected data for being processed in computation), intelligence algorithm (decision making method based on data input), and data output (taken data as a result of decision making from intelligence algorithm. There are many kind of shapes and intelligence algorithms with different tasks in mobile robot engineering scope. The main problem in this kind of mobile robot is within the navigation ability and flexibility and robust held-handled in processing. Hence, this final project is implementing fuzzy logic controller method as a guidance system in a wall corridor follower mobile robot. The results of the test run are the parameter in fuzzy logic controller method influencing the mobile robot decision making in following wall corridor task, and wall corridor following mobile robot is working properly in width of 60 – 100 cm between left and right sides of wall corridor. Sharp GP2D12 IR censor’s placement has a big role in the wall corridor following. Keyword : Mobile robot, wall corridor follower , fuzzy logic controller