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All Journal ComEngApp : Computer Engineering and Applications Journal Jurnal Teknologi Informasi dan Ilmu Komputer Annual Research Seminar
Hadipurnawan Satria
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Computer Science & IT Engineering

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Journal : ComEngApp : Computer Engineering and Applications Journal

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Comparative Analysis Multi-Robot Formation Control Modeling Using Fuzzy Logic Type 2 – Particle Swarm Optimization Anggun Islami; Siti Nurmaini; Hadipurnawan Satria
Computer Engineering and Applications Journal Vol 11 No 3 (2022)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (517.436 KB) | DOI: 10.18495/comengapp.v11i3.413

Abstract

Multi-robot is a robotic system consisting of several robots that are interconnected and can communicate and collaborate with each other to complete a goal. With physical similarities, they have two controlled wheels and one free wheel that moves at the same speed. In this Problem, there is a main problem remaining in controlling the movement of the multi robot formation in searching the target. It occurs because the robots have to create dynamic geometric shapes towards the target. In its movement, it requires a control system in order to move the position as desired. For multi-robot movement formations, they have their own predetermined trajectories which are relatively constant in varying speeds and accelerations even in sudden stops. Based on these weaknesses, the robots must be able to avoid obstacles and reach the target. This research used Fuzzy Logic type 2 – Particle Swarm Optimization algorithm which was compared with Fuzzy Logic type 2 – Modified Particle Swarm Optimization and Fuzzy Logic type 2 – Dynamic Particle Swarm Optimization. Based on the experiments that had been carried out in each environment, it was found that Fuzzy Logic type 2 - Modified Particle Swarm Optimization had better iteration, time and resource and also smoother robot movement than Fuzzy Logic type 2 – Particle Swarm Optimization and Fuzzy Logic Type 2 - Dynamic Particle Swarm Optimization.
Co-Authors Anggun Islami Jambak, Muhammad Ihsan Muhammad Syahroyni Primanita, Anggina Rifkie Primartha Samsuryadi Sahmin Siti Nurmaini