RANCANG BANGUN SISTEM NAVIGASI MOBILE ROBOT DENGAN INERTIAL MEASUREMENT UNIT (IMU) BERBASIS LOGIKA FUZZY DAN PENDEKATAN KENDALI PROPORSIONAL INTEGRAL DERIVATIF (PID)

Faiz Daffa Ulhaq, . (2024) RANCANG BANGUN SISTEM NAVIGASI MOBILE ROBOT DENGAN INERTIAL MEASUREMENT UNIT (IMU) BERBASIS LOGIKA FUZZY DAN PENDEKATAN KENDALI PROPORSIONAL INTEGRAL DERIVATIF (PID). Skripsi thesis, Universitas Pembangunan Nasional Veteran Jakarta.

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Abstract

Robots are increasingly becoming more autonomous, adaptable, and collaborative over time so that they can interact with each other and work together with humans. Among the various types of robots, mobile robots have the unique characteristic of moving from one place to another. Mobile robot navigation systems are challenging because they must move autonomously without colliding with objects around them. Soft computing systems are considered a solution to control mobile robots. Fuzzy logic is considered an appropriate technique for solving problems dealing with imprecise aspects. Combining fuzzy logic and PID control systems can improve robot navigation performance. The PID control system stabilizes the Inertial Measurement Unit (IMU) sensor readings according to a predetermined final angle so that the robot can move straight. The results of fuzzy logic testing by experimenting with 100 data each from the fuzzy output obtained an accuracy of 97% and a precision of 97%. The results of PID tuning using the Ziegler-Nichols 2 method still need to be improved by increasing the Kd value to reduce the steady-state error value. Tests combining fuzzy logic and PID control have been carried out by providing two different obstacles so that the robot can move to avoid obstacles adaptively.

Item Type: Thesis (Skripsi)
Additional Information: [No.Panggil: 2010314035] [Pembimbing: Achmad Zuchriadi] [Penguji 1: Didit Widiyanto] [Pengujii 2: Fajar Rahayu]
Uncontrolled Keywords: Mobile Robot, Fuzzy Logic, and PID Control System
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Q Science > QA Mathematics > QA76 Computer software
T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Fakultas Teknik > Program Studi Teknik Elektro (S1)
Depositing User: Faiz Daffa Ulhaq
Date Deposited: 26 Feb 2024 06:17
Last Modified: 26 Feb 2024 06:17
URI: http://repository.upnvj.ac.id/id/eprint/28266

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