Rancang Bangun Sistem Navigasi Robot Hexapod 3 DOF di Ruangan Labirin Menggunakan Metode Fuzzy Sugeno Berbasis Arduino
DOI:
https://doi.org/10.22441/jte.2020.v11i3.004Keywords:
Robot Hexapod, Navigasi, Logika fuzzy, Fuzzy SugenoAbstract
Pada era teknologi dan otomasi industri saat ini banyak digunakan robot sebagai alat bantu yang dapat meringankan pekerjaan manusia, sehingga dibutuhkan robot yang memiliki sistem pengendalian yang baik agar pekerjaan yang dilakukan oleh robot tersebut dapat lebih optimal. Perkembangan sistem pengendalian pada robot saat ini cukup pesat seiring dengan kebutuhan manusia yang semakin beragam.
Beberapa metode banyak diterapkan pada sistem pengendalian robot secara otomatis. Logika fuzzy merupakan metode yang banyak digunakan dalam navigasi gerak robot. Sehingga pada penelitian ini akan diterapkan metode logika fuzzy dengan tipe Sugeno sebagai sistem navigasi robot hexapod yang ditanamkan pada mikrokontroler Arduino mega dan digunakan lima buah sensor ultrasonik sebagai nilai inputan jarak, dan menggunakan servo motor controller 32 channel yang digunakan untuk mengontrol 18 servo untuk mengerakan robot baik maju, belok kanan, dan kiri dan juga membantu meringkas kabel yang terhubung kearduino, codingan motor servo yang mudah yang dimana hanya memanggil perintah serial ke arduino mega.
Dalam hal ini logika fuzzy diterapkan untuk mengatur delay yang bisa mengatur speed robot hexapod ini ketika berhadapan tembok dekat maka berjalan lambat dan jauh dari tembok maka berjalan cepat. Sehingga dapat menghindari halangan yang berada dengan baik.Downloads
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