AN FLC-PSO ALGORITHM-CONTROLLED MOBILE ROBOT

Heru Suwoyo; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar

doi:10.22441/sinergi.2020.3.002

Authors

Heru Suwoyo Department of Electrical Engineering, Universitas Mercu Buana School of Mechatronic Engineering and Automation, Shanghai University, Indonesia
Yingzhong Tian School of Mechatronic Engineering and Automation of Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, China
Muhammad Hafizd Ibnu Hajar Department of Electrical Engineering, Universitas Mercu Buana, Indonesia

DOI:

https://doi.org/10.22441/sinergi.2020.3.002

Keywords:

Wall-Following Robot, FLC, PSO, FLC-PSO

Abstract

The ineffectiveness of the wall-following robot (WFR) performance indicated by its surging movement has been a concerning issue. The use of a Fuzzy Logic Controller (FLC) has been considered to be an option to mitigate this problem. However, the determination of the membership function of the input value precisely adds to this problem. For this reason, a particular manner is recommended to improve the performance of FLC. This paper describes an optimization method, Particle Swarm Optimization (PSO), used to automatically determinate and arrange the FLC’s input membership function. The proposed method is simulated and validated by using MATLAB. The results are compared in terms of accumulative error. According to all the comparative results, the stability and effectiveness of the proposed method have been significantly satisfied.