Implementation of Fuzzy Logic Control for Navigation System in Mobile Robot Omnidirectional

DOI

10.2991/aisr.k.200424.036How to use a DOI?

Keywords

fuzzy logic control, mobile robot omnidirectional, navigation system

Abstract

Robot omnidirectional is a type of wheeled robot that can move efficiently in various directions. Generally, this robot uses Omni wheels. In this study, the mobile robot omnidirectional was developed to move freely in reaching the target point. The robot uses four Omni wheels, where the direction of movement of the robot uses kinematic analysis. The method used for the movement of this robot is fuzzy logic control. The fuzzy logic controller accepts input from five proximity sensors, and the output produces the action of the movement of the robot. Fuzzy logic control in a robot is designed to work on two behaviors, namely avoiding obstacles and approaching the target. The obstacle avoidance behavior is active if the sensors detect an object or wall, while the behavior of approaching the target is based on the error value between the actual position and the reference. The experimental results show that the robot can navigate with good movement in avoiding obstacles and reaching the specified targets.

Copyright

© 2020, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - RENDYANSYAH
AU  - Siti NURMAINI
AU  - Sartika SARI
AU  - Dimas Bagus RAMARTA
PY  - 2020
DA  - 2020/05/06
TI  - Implementation of Fuzzy Logic Control for Navigation System in Mobile Robot Omnidirectional
BT  - Proceedings of the Sriwijaya International Conference on Information Technology and Its Applications (SICONIAN 2019)
PB  - Atlantis Press
SP  - 242
EP  - 250
SN  - 1951-6851
UR  - https://doi.org/10.2991/aisr.k.200424.036
DO  - 10.2991/aisr.k.200424.036
ID  - 2020
ER  -