SADEWO, DONY (2025) SISTEM KENDALI ADAPTIF BERBASIS FUZZY LOGIC UNTUK OPTIMALISASI PERGERAKAN DAN NAVIGASI ROBOT OMNIDIRECTIONAL WHEEL. S1 thesis, Universitas Mercu Buana Jakarta.
|
Text (HAL COVER)
01 COVER.pdf Download (581kB) | Preview |
|
![[img]](https://repository.mercubuana.ac.id/style/images/fileicons/text.png) |
Text (BAB I)
02 BAB 1.pdf Restricted to Registered users only Download (104kB) |
|
|
Text (BAB II)
03 BAB 2.pdf Restricted to Registered users only Download (250kB) |
|
|
Text (BAB III)
04 BAB 3.pdf Restricted to Registered users only Download (631kB) |
|
|
Text (BAB IV)
05 BAB 4.pdf Restricted to Registered users only Download (449kB) |
|
|
Text (BAB V)
06 BAB 5.pdf Restricted to Repository staff only Download (90kB) |
|
|
Text (DAFTRA PUSTAKA)
07 DAFTAR PUSTAKA.pdf Restricted to Registered users only Download (152kB) |
|
|
Text (LAMPIRAN)
08 LAMPIRAN.pdf Restricted to Registered users only Download (307kB) |
Abstract
To improve the performance and navigation accuracy of an omnidirectional wheeled robot, research has developed a fuzzy logic-based control system called "Fuzzy Logic-Based Adaptive Control System for Optimizing the Movement and Navigation of an Omnidirectional Wheeled Robot." This title emphasizes the use of adaptive control techniques that can optimize the robot's stability and movement by responding to real-time environmental changes. This research uses an omnidirectional wheeled robot controlled by an Arduino Mega 2560 microcontroller. This microcontroller is equipped with an L298N motor driver, an MPU6050 balance sensor, and an HC-SR04 proximity sensor. Mamdani fuzzy logic is used in the control system to handle input from the front, left, and right proximity sensors. This generates a motion direction within an angular range of 0–180 degrees. Furthermore, the fuzzy logic limits the maximum angle to ±15°, while the rotary encoder maintains movement stability on inclined surfaces up to ±20°. Test results indicate that the fuzzy control system provides more accurate and efficient navigation. The robot's travel time is 10 seconds with 4 motor movements, much more efficient than the non-fuzzy system which requires 16 seconds and 8 movements, and consumes only 20% of the battery with a 35% obstacle. Compared to the non-fuzzy system, the fuzzy response time is slightly longer (around 500 milliseconds), but the results remain within reasonable limits and provide more flexible and accurate decisions. Keywords: Omnidirectional Wheel Robot, Adaptive Control System, Fuzzy Logic, Robot Navigation, HC-SR04 Sensor, MPU6050 Sensor, Arduino Mega 2560, Motor Driver L298N Untuk meningkatkan kinerja dan akurasi navigasi robot roda omnidirectional, penelitian telah mengembangkan sistem kendali berbasis logika fuzzy yang disebut "Sistem Kendali Adaptif Berbasis Fuzzy Logic untuk Optimalisasi Pergerakan dan Navigasi Robot Roda Omnidirectional." Judul ini menekankan penggunaan teknik kendali adaptif yang dapat mengoptimalkan stabilitas dan pergerakan robot dengan merespons perubahan lingkungan secara real-time. Penelitian ini menggunakan robot beroda omnidirectional yang dikelola oleh mikrokontroler Arduino Mega 2560. Mikrokontroler ini dilengkapi dengan motor driver L298N, sensor keseimbangan MPU6050, dan sensor jarak HC-SR04. Logika fuzzy Mamdani digunakan dalam sistem kendali untuk menangani input dari sensor jarak depan, kiri, dan kanan. Ini menghasilkan arah gerak dalam rentang sudut 0–180 derajat. Selain itu, logika fuzzy membatasi sudut maksimum hingga ±15°, sedangkan rotary encoder menjaga stabilitas pergerakan pada permukaan miring hingga ±20°. Hasil pengujian menunjukkan bahwa navigasi yang lebih akurat dan efisien diberikan oleh sistem kendali fuzzy. Waktu tempuh robot adalah 10 detik dengan 4 kali gerakan motor, jauh lebih efisien daripada sistem tanpa fuzzy yang membutuhkan 16 detik dan 8 gerakan, dan mengkonsumsi baterai hanya 20% dengan rintangan sebesar 35%. Jika dibandingkan dengan sistem non-fuzzy, waktu respons fuzzy sedikit lebih lama (sekitar 500 milidetik), tetapi hasilnya tetap dalam batas wajar dan memberikan keputusan yang lebih fleksibel dan akurat. Kata Kunci : Robot Omnidirectional Wheel, Sistem Kendali Adaptif, Logika Fuzzy, Navigasi Robot, Sensor HC-SR04, Sensor MPU6050, Arduino Mega 2560, Motor Driver L298N
| Item Type: | Thesis (S1) |
|---|---|
| Call Number CD: | FT/ELK. 25 061 |
| NIM/NIDN Creators: | 41421010024 |
| Uncontrolled Keywords: | Robot Omnidirectional Wheel, Sistem Kendali Adaptif, Logika Fuzzy, Navigasi Robot, Sensor HC-SR04, Sensor MPU6050, Arduino Mega 2560, Motor Driver L298N |
| Subjects: | 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | khalimah |
| Date Deposited: | 25 Aug 2025 01:59 |
| Last Modified: | 25 Aug 2025 01:59 |
| URI: | http://repository.mercubuana.ac.id/id/eprint/97048 |
Actions (login required)
 |
View Item |
