PEMODELAN MOBILE ROBOT BERPENGGERAK DIFFERENSIAL MENGGUNAKAN METODE KENDALI LOGIKA FUZZY-PARTICLE SWARM OPTIMIZATION

SETIANINGSIH, FEBRINA and Nurmaini, Siti (2018) PEMODELAN MOBILE ROBOT BERPENGGERAK DIFFERENSIAL MENGGUNAKAN METODE KENDALI LOGIKA FUZZY-PARTICLE SWARM OPTIMIZATION. Undergraduate thesis, Sriwijaya University.

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Abstract

Differential Drive Mobile robot (DDMR) is one of the mobile robot driven differential by using two drive wheels. Particle Swarm Optimization (PSO) method is applied to solve the optimization problem in search of a target (best value) automatically by tuning the membership function on the system of fuzzy logic so that the time required is less and efficient. When the mobile robot moves from the actual robot to the destination position, then the mobile robot given the fuzzy logic control system and model equations the kinematic aiming to minimize the change (error) and control the speed in the movement of the wheels (right and left). The results of testing by tuning MFs with fuzzy logic system-PSO in swarm45 automatically in range [-2.2 - 2.9] as input and produces the average position error x is 0.288889 m/s, the average position error y is 0.288889 m/s, the average error position of theta is 0.480605 rad/s, the average error of linear velocity is 4.666667 m/s and the average error of angular velocity is 4.666667 rad/s with time duration stable by 1.4 s. .

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Control System, Mobile Robot, Kinematic Model, Fuzzy Logic, Membership Function, Particle Swarm Optimization
Subjects: Q Science > QA Mathematics > QA75-76.95 Calculating machines > QA76.9.E94 Computer system performance. Computer Communication Networks. Computer science. Logic design. Operating systems (Computers).
Divisions: Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User: Mrs Sri Astuti
Date Deposited: 19 Sep 2019 05:18
Last Modified: 19 Sep 2019 05:18
URI: http://repository.unsri.ac.id/id/eprint/8106

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