Modeling Wall Tracer Robot Motion Based on Fuzzy Logic Control Alwan Abdul Zaki (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]uinsgd.itb.ac.id
Abstract
Nowadays, robotic technology has experienced amazing progress, especially in the field of the wall tracer. This robotic wall trace will ease any mens work in the areas of industry, manufacturing, and infrastructure. The robotic wall tracer research and development have been conducted previously to improve the capability and the performance of robots. In this study, the blue print/plan of wall tracer was created so that the robots are always in the assigned set point position. The motion control system of the wall tracer robots were designed using fuzzy logic, with the input in the form of distance obtained from ultrasonic sensor planted on the peripheral parts of the robots, and the output is manifested in the speed of both left and right wheels. To achieve this, an AI was created and planted in the robots. Control fuzzy simulation was carried out by an employing a program using mamdani fuzzy logic models, so the robot can navigate down the wall with input decisions very close, near, middle, far, very far, and output decisions are very slow, slow, normal, fast, very fast. Based on the simulation result, we can concluded that the robot can perform their duties optimally, and could be implemented for the real system.
Keywords: wall tracer robot, fuzzy logic, ultrasonic sensor, motion control
