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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) Perfecting a Video Game with Game Metrics Bulletin of Electrical Engineering and Informatics Jurnal Teknologi Elektro Minda Baharu Jurnal Abdi Masyarakat (JAM)
Yudhi Gunardi
Universitas Mercu Buana
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Other

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Journal : Perfecting a Video Game with Game Metrics

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Goal-seeking Behavior-based Mobile Robot Using Particle Swarm Fuzzy Controller Andi Adriansyah; Yudhi Gunardi; Badaruddin Badaruddin; Eko Ihsanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 13, No 2: June 2015
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v13i2.1111

Abstract

Behavior-based control architecture has successfully demonstrated their competence in mobile robot development. Fuzzy logic system characteristics are suitable to address the behavior design problems. However, there are difficulties encountered when setting fuzzy parameters manually. Therefore, most of the works in the field generate certain interest for the study of fuzzy systems with added learning capabilities. This paper presents the development of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A goal-seeking behaviors based on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations and experiments with MagellanPro mobile robot have been performed to analyze the performance of the algorithm.  The promising results have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment.
Co-Authors Andi Adriansyah Aris Munandar Badaruddin Badaruddin Dirman Hanafi Eko Ihsanto Eko Saputro Fina Supegina Firmansyah Firmansyah Hisyam Abdul Rahman Julpri Andika Jumadril J. N. Kamal Khairi Kamaruddin Ketty Siti Salamah M. Hafiz Ibnu Hajar Muhamad Muhya Muhammad Hafizd Ibnu Hajar Rachmat Muwardi Setiyo Budiyanto Suwoyo, Heru Tria Candra Oktoviana Triyanto Pangaribowo Zendi Iklima