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Muhammad Hafizd Ibnu Hajar
Electrical Engineering Department, Faculty of Engineering, Universitas Mercu Buana
Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA Heru Suwoyo; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar
SINERGI Vol 24, No 2 (2020)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (677.577 KB) | DOI: 10.22441/sinergi.2020.2.008

Abstract

Determination of the improper speed of the wall-following robot will produce a wavy motion. This common problem can be solved by adding a Fuzzy Logic Controller (FLC) to the system. The usage of FLC is very influential on the performance of the wall-following robot. Accuracy in the determination of speed is largely based on the setting of the membership function that becomes the value of its input. So manual setting on membership function can still be enhanced by approaching the certain optimization method. This paper describes an optimization method based on Genetic Algorithm (GA). It is used to improving the ability of FLC to control the wall-following robot controlled by FLC. To provide clarity, the wall-following robot that controlled using an FLC with manual settings will be simulated and compared with the performance of wall-following robots controlled by a fuzzy logic controller optimized by a Genetic Algorithm (FLC-GA). According to comparative results, the proposed method has been showing effectiveness in terms of stability indicated by a small error.
Co-Authors Suwoyo, Heru Yingzhong Tian