Communications
in Computer and Information Science
516
Editorial Board
Simone Diniz Junqueira Barbosa
Pontifical Catholic University of Rio de Janeiro (PUC-Rio), Rio de Janeiro, Brazil
Phoebe Chen
La Trobe University, Melbourne, Australia Alfredo Cuzzocrea
ICAR-CNR and University of Calabria, Cosenza, Italy Xiaoyong Du
Renmin University of China, Beijing, China Joaquim Filipe
Polytechnic Institute of Setúbal, Setúbal, Portugal Orhun Kara
TÜB˙ITAK B˙ILGEM and Middle East Technical University, Ankara, Turkey Igor Kotenko
St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia
Krishna M. Sivalingam
Indian Institute of Technology Madras, Chennai, India Dominik ´Sl˛ezak
University of Warsaw and Infobright, Warsaw, Poland Takashi Washio
Osaka University, Osaka, Japan Xiaokang Yang
Rolly Intan
·
Chi-Hung Chi
Henry N. Palit
·
Leo W. Santoso (Eds.)
Intelligence in the Era
of Big Data
4th International Conference
on Soft Computing, Intelligent Systems
and Information Technology, ICSIIT 2015
Bali, Indonesia, March 11–14, 2015
Proceedings
Editors
ISSN 1865-0929 ISSN 1865-0937 (electronic) Communications in Computer and Information Science
ISBN 978-3-662-46741-1 ISBN 978-3-662-46742-8 (eBook) DOI 10.1007/978-3-662-46742-8
Library of Congress Control Number: 2015934823 Springer Heidelberg New York Dordrecht London
c
Springer-Verlag Berlin Heidelberg 2015
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© Springer-Verlag Berlin Heidelberg 2015
R. Intan et al. (Eds.): ICSIIT 2015, CCIS 516, pp. 27–36, 2015. DOI: 10.1007/978-3-662-46742-8_3
Direction Control System on a Carrier Robot
Using Fuzzy Logic Controller
Kevin Ananta Kurniawan, Darmawan Utomo, and Saptadi Nugroho
Satya Wacana Christian University
Jl.Diponegoro 52 - 60 Salatiga 50711, Jawa Tengah, Indonesia
[email protected], {du88,saptadi_nugroho}@yahoo.com
Abstract. In an autonomous mobile robot system the ability to control the robot
manually is needed. For that reason a mechatronics system and control algo-rithm on carrier robot are designed and realized using Fuzzy Logic Controller. The carrier robot system which is designed consists of the robot mechatronics unit and the control center unit. The commands which are sent from the control center unit via local network received by the embedded system. These com-mands are forwarded to the microcontroller and translated into carrier robot’s maneuver. An error correction algorithms using fuzzy logic controller is applied to regulate the actuator’s speed. This fuzzy logic controller algorithm is imple-mented on embedded system which has a limitation on computational resources. The fuzzy controller gets its input from a rotary encoder and a mag-netometer installed on the robot. The fuzzy logic controller algorithm using direction error protection has been able to detect and correct the direction error which the error value exceeds the predetermined threshold value (± 3 ° and ± 15 °). The carrier robot system has been able to run straight as far as 15 m with average deviation value of 22.2 cm. This fuzzy logic controller algorithm is able to give the response in the form of speed compensation value to maintain the direction of the carrier robot.
Keywords: fuzzy logic controller, fuzzy, embedded system, carrier robot, pulse
width modulation.
1
Introduction
In this paper the design of the control system is realized on a two-wheeled carrier robot. The robot has two wheels which have the functions as actuators and a passive wheel on the back of the robot. The robot uses two wheels control system so that the space needed for the robot maneuver is smaller. The fuzzy logic algorithm imple-mented in the robot controller is used to correct the directional error of the robot when the robot moving in a straight line.
