ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA
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...
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Universitas Mercu Buana
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doaj-0fd7d003a35e447d9443c5152a9d29dc2020-11-25T02:38:04ZindUniversitas Mercu BuanaJurnal Ilmiah SINERGI1410-23312460-12172020-04-0124214115210.22441/sinergi.2020.2.0083372ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GAHeru Suwoyo0Yingzhong Tian1Muhammad Hafizd Ibnu Hajar2School of Mechatronic Engineering and Automation of Shanghai University Electrical Engineering Department, Faculty of Engineering, Universitas Mercu BuanaSchool of Mechatronic Engineering and Automation of Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and RoboticsElectrical Engineering Department, Faculty of Engineering, Universitas Mercu BuanaDetermination 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.http://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/7146wall-following robotfuzzy logic controllergenetic algorithmflc-ga |
collection |
DOAJ |
language |
Indonesian |
format |
Article |
sources |
DOAJ |
author |
Heru Suwoyo Yingzhong Tian Muhammad Hafizd Ibnu Hajar |
spellingShingle |
Heru Suwoyo Yingzhong Tian Muhammad Hafizd Ibnu Hajar ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA Jurnal Ilmiah SINERGI wall-following robot fuzzy logic controller genetic algorithm flc-ga |
author_facet |
Heru Suwoyo Yingzhong Tian Muhammad Hafizd Ibnu Hajar |
author_sort |
Heru Suwoyo |
title |
ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA |
title_short |
ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA |
title_full |
ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA |
title_fullStr |
ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA |
title_full_unstemmed |
ENHANCING THE PERFORMANCE OF THE WALL-FOLLOWING ROBOT BASED ON FLC-GA |
title_sort |
enhancing the performance of the wall-following robot based on flc-ga |
publisher |
Universitas Mercu Buana |
series |
Jurnal Ilmiah SINERGI |
issn |
1410-2331 2460-1217 |
publishDate |
2020-04-01 |
description |
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. |
topic |
wall-following robot fuzzy logic controller genetic algorithm flc-ga |
url |
http://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/7146 |
work_keys_str_mv |
AT herusuwoyo enhancingtheperformanceofthewallfollowingrobotbasedonflcga AT yingzhongtian enhancingtheperformanceofthewallfollowingrobotbasedonflcga AT muhammadhafizdibnuhajar enhancingtheperformanceofthewallfollowingrobotbasedonflcga |
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1724792965650448384 |