文章基本信息

标题：Penerapan Logika Fuzzy dan Pulse Width Modulation untuk Sistem Kendali Kecepatan Robot Line Follower
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作者：Ahyar Supani ; Azwardi Azwardi
期刊名称：Jurnal INKOM
印刷版ISSN：2302-6146
出版年度：2015
卷号：9
期号：1
页码：1-10
出版社：Pusat Penelitian Informatika - LIPI
摘要：Satu kendala robot line follower (LF) yaitu kendali kecepatan putaran saat belok mengikuti garis belok tajam, belok sedang, belok sedikit, dan tidak ada garis. Kendala tersebut adalah robot LF selalu menggerakkan satu roda saja kiri atau kanan dengan kecepatan maksimum. Kendala ini diatasi dengan menerapkan logika fuzzy untuk mengkomputasi nilai on/off motor saat belokan garis tajam, belokan sedang, dan sedikit. Selanjutnya penerapan Pulse Width Modulation untuk mengatur sinyal lamanya waktu on/off motor. Pengujian dengan sudut 900 dan 450 menghasilkan satu roda kecepatan maksimum, satu roda lagi mengalami dua kecepatan 14,5 % dan 43,1 % dari maksimum. Pengujian sudut 100 satu roda kecepatan maksimum dan satu roda 43,1% dari maksimum.
其他摘要：One obstacle that faced by line follower robot (LF) is a drived-motor speed control when it turns right/left following a sharp turn, a medium turn, a less turn and no line. Robot LF turning on a sharp turn line always gets out of line because two drived-motors run maximum and continually move on no line track. This obstacle is overcomed by applying a fuzzy logic to scan sharp turn, medium turn, turn slightly and no line track while applying Pulse Width Modulation to control two drived-motors. Input scanning of robot LF is set by fuzzy that are ‘sharp_right_turn’, ‘medium_right_turn’, ‘right_turn_slightly’, straight, ‘sharp_left_turn’, ‘medium_left_turn’, ‘left_turn_slightly’, no line. A drived-motor speed control is set : if sharp_right_turn then a right drived-motor is very slowly, medium_right_turn then a right drived-motor is rather fast, right_turn_slightly then a right-drived-motor is slightly faster vise versa similar to turn left. Robot LF runs maximum on a straight line and turns back 360o on no line track by turning off left- drived-motor and turning on maximal right- drived-motor.