Design of system Automatic Underwater Robot Based on Fuzzy Logic Control Mamdani Aan Eko Setiawan (a), Rina Mardiati (b), Edi Mulyana (c)
(a) aaneko37[at]gmail.com, (b) r_mardiati[at]uinsgd.ac.id, (c) edim[at]uinsgd.ac.id,
Faculty of Science and Technology, UIN Sunan Gunung Djati Bandung, Indonesia
Abstract
Underwater robot is one of the robots that maneuver under water. This robot is controlled using a remote control or more commonly known as ROV. However, when controlled by the remote often interruptions or connections are often disconnected. Therefore it is necessary to make an underwater robot that can move automatically. In this study a discussion about automatic underwater robot simulation using the fuzzy method. Simulations is performed to get a model of each membership function and get the value of the output. The sensor used is an ultrasonic water resist sensor and the motor used is a brushless motor. The parameters used are for the input is the front sensor distance, rear sensor distance and bottom sensor distance while the output parameters used are the right motor speed, left motor speed, right bottom motor speed and bottom left motor speed. The number of rules used is 125 rules. In this research, a case study with a distance sensor value of 30 cm, 30 cm and 60 cm was completed. Then using the simulation, the output value as follows: PWM value for right motor is 17.3 PWM value for left motor 110 while for PWM value for motor bottom is 80. From the values it can be concluded that the robot in the maneuver turns right with the position at a medium height.
