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Yingzhong Tian
School of Mechatronic Engineering and Automation of Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University
Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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AN FLC-PSO ALGORITHM-CONTROLLED MOBILE ROBOT Heru Suwoyo; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar
SINERGI Vol 24, No 3 (2020)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2020.3.002

Abstract

The ineffectiveness of the wall-following robot (WFR) performance indicated by its surging movement has been a concerning issue. The use of a Fuzzy Logic Controller (FLC) has been considered to be an option to mitigate this problem. However, the determination of the membership function of the input value precisely adds to this problem. For this reason, a particular manner is recommended to improve the performance of FLC. This paper describes an optimization method, Particle Swarm Optimization (PSO), used to automatically determinate and arrange the FLC’s input membership function. The proposed method is simulated and validated by using MATLAB. The results are compared in terms of accumulative error. According to all the comparative results, the stability and effectiveness of the proposed method have been significantly satisfied.
Co-Authors Muhammad Hafizd Ibnu Hajar Suwoyo, Heru