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Implementasi Kendali Logika Fuzzypada Robot Line Follower
https://doi.org/10.22146/ijeis.4221 Gilang Nugraha Putu Pratama(1*), Andi Dharmawan(2), Catur Atmaji(3)
(1)
(2) Jurusan Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(3) Jurusan Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(*) Corresponding Author
Abstract
Robot line follower merupakan robot otonom yang dapat mengikuti jalur. Jalurnya bisa berupa garis berwarna hitam diatas permukaan putih atau sebaliknya. Pada penelitian ini, robot line follower menggunakan sistem kendali logika fuzzy dengan metode Mamdani. Selama ini robot line follower kebanyakan dirancang untuk jalur dengan lebar yang tetap, namun dengan sistem kendali logika fuzzy ini dapat mengenali jalur dengan variasi lebar antara satu hingga delapan titik sensor. Robot line follower ini mengimplementasikan 18 aturan fuzzy untuk memetakan antara antecedent posisi dan lebar jalur, dengan consequent kecepatan laju robot. Aturan fuzzy terdiri dari masing-masing 9 aturan untuk kondisi jalur tunggal dan jalur percabangan dua jalur. Robot line follower ini mampu menganalisis 57 case jalur dengan kendali fuzzy, mulai dari lebar jalur 2 hingga 12 cm. Dimana 36 case analisis jalur tunggal dan 21 casejalur percabangan dua jalur. Robot line follower ini juga mampu menyesuaikan kecepatan laju sesuai lebar jalurnya.
Kata kunci— kendali logika fuzzy, kendali Mamdani, robot line follower
Line follower Robot is an autonomous robot that can follow a track. The track can be a black line on a white surface or vice versa. In this study, the line follower robot using fuzzy logic control system by the method of Mamdani. Mostly line follower robots are designed with a fixed width, but with fuzzy logic control system itcan recognize the wide variation between one to eight pointsof sensor. This line follower robot implements18 fuzzy rules to map between the antecedents position and width of the line, with a consequents speed rate of the robot. There are 9 rules each for single line and two routes branching paths. This line follower robot is designedwith capabilityto analyze 57 cases, the width of the line from 2 to 12 cm. There are 36 casesof analysis on a single line and 21 cases on two lines branching paths. This line follower robot can adjust it’s speed depend on the wide of the track.
Keywords— fuzzy logic controller, Mamdani-controller, line follower robot
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[1] Azlan, N.Z., Zainudin, F., Yusuf, H.M., Toha, S.F., Yussoff, S.Z.S., Osman, N.H., 2007, Fuzzy Logic Controlled Miniature LEGO Robot for Undergraduate Training System, International Islamic University Malaysia, Kuala Lumpur, Malaysia
[2] Ibrahim, D., Alshanableh, T., 2009, An Undergraduate Fuzzy Logic Control Lab Using a Line Following Robot, Wiley Periodicals, Inc., Lefkosa.
[3] Sivanandam, S.N., Sumathi S., dan Deepa S.N., 2007, Introduction to Fuzzy Logic using MATLAB, Springer-Verlag, Berlin.
[4] Solikin, F., 2011, Aplikasi Logika Fuzzy dalam Optimalisasi Produksi Barang menggunakan Metode Mamdani dan Metode Sugeno, Skripsi, Jurusan Pendidikan Matematika, UNY, Yogyakarta.
DOI: https://doi.org/10.22146/ijeis.4221
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