Design of Automatic Goods Carrier Robot System Based on Line Sensor and Fuzzy Logic Control Mamdani
Abdul Mutolib (a), Rina Mardiati (a*), Edi Mulyana (a), Aan Eko Setiawan(a)

a) Department of Electrical Engineering, UIN Sunan Gunung Djati Bandung
Jl. A.H. Nasution No. 105 Bandung, Indonesia
*r_mardiati[at]uinsdg.ac.id

Abstract

The development of control technology, especially in the field of robotics is improving more progress in efforts to complete human work. One of them is goods transport robot that used in industry. At present, the majority of robots transporting goods still controlled by human. In this paper, a design of the automation system for robotic goods carriers will be presented. One of the challenges in the development of a goods transport robot system is how the robot can run stably when carrying goods. This paper presents a design of a robotic goods transport based on line sensors and fuzzy logic control so that when the robot is running, it can run smoothly. The input used in this fuzzy logic system is the light and weight which obtained from the BFD-1000 sensor and barometric sensor. Whereas the output of the fuzzy system is the speed of right motor and the left motor that can stabilize the robot when the load is added. The simulation was done using Matlab to get the membership function value. Based on the simulation results using a case example, it is known that the load carried is 404 grams and the living sensor is sensor 3. Then the simulation results obtained speed of right motor PWM value of 128 and speed of left motor PWM value of 128. So that the robot runs in a straight state. Based on this result, we can conclude that this control model could be implemented well to the real system.

Keywords: Goods Carrier Robot, Fuzzy Logic Control, Mamdani, Weight, Speed

Topic: Electrical Engineering