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All Journal Jurnal Pseudocode Sinergi Journal of Information Technology and Computer Science Jurnal SOLMA JCES (Journal of Character Education Society) JOISIE (Journal Of Information Systems And Informatics Engineering) Kesatria : Jurnal Penerapan Sistem Informasi (Komputer dan Manajemen) Abdi Reksa
Febriandirza, Arafat
Universitas Muhammadiyah Prof. Dr. Hamka, Indonesia
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Social Sciences Other

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Journal : Sinergi

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The use of Fuzzy Logic Controller and Artificial Bee Colony for optimizing adaptive SVSF in robot localization algorithm Heru Suwoyo; Muhammad Hafizd Ibnu Hajar; Prastika Indriyanti; Arafat Febriandirza
SINERGI Vol 28, No 2 (2024)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2024.2.003

Abstract

The objective of solving feature-based localization problems is to estimate the path of the robot referring to a given map. Thus, it is not surprising that robust estimators such as Smooth Variable Structure Filter (SVSF) are often used to handle this problem. Basically, its use is highly dependent on an accurate system model and known statistical noise. Where neither of these are available by definition. Therefore, the conventional way is not recommended and the use of an adaptive filter approach can be involved. Based on this and although only partially, Innovation Adaptive Estimation (IAE) has been considered to have a positive influence on improving the performance of the estimator. But not infrequently the solutions offered by this approach also lead to divergences due to unmapped dynamic conditions. Moreover, in this proposal, IAE is enhanced by applying Artificial Bee Colony-Tuned Fuzzy Logic. The hope is that there is quality control for the process noise covariance Q and R measurements by updating them based on the output of this ABC-Tuned FLC.
Co-Authors Abdiel Alpriyan Gempa Alamsyah Sahuri Ade Maya Saraswati Ahmad Afif Supianto E Erizal Eka Kartikawati Endang Suryawati Endy Syaiful Alim Faldy Irwiensyah Firman Noor Hasan Firman Noor Hasan Hibatullah Faisal Irdalisa Irdalisa Maesaroh Maesaroh Mega Elvianasti Muhamad Wahyu Sanjaya Muhammad Hafizd Ibnu Hajar Muhammad Solehuddin Al-Khawarizmi Nanang Yudi Setiawan Novira Azpiranda Prastika Indriyanti Prastika Indriyanti R. Sandra Yuwana Rahady Puji Alfiansyah Rahmi Imanda Suwoyo, Heru Widia Anggraeni