PENGONTROLAN TRAJECTORY ROBOT NON-HOLONOMIC BERPENGGERAK DIFFERENTIAL DRIVE MENGGUNAKAN METODE FUZZY-PSO
Daftar Isi:
- One type of mobile robot is a differential drive mobile robot. Differential Drive Mobile Robot (DDMR) is one of the mobile robot driven differential by using two drive wheels. Mobile robot can make a displacement. In process of displacement, mobile robot will experience an error. In order to reach the intended position, needed a controlling system that will control the velocity of each wheel to maintain the error stability. Particle Swarm Optimization (PSO) method is applied to solve the optimization problem in search of a target (best value) automatically by turning the membership function on the system of fuzzy logic so that the time required is shorter and efficient. On the trial and analysis of this research, applied Fuzzy Logic Controller method, because this method can be used in the nonlinear kinematic model. The results of testing by turning MFs with fuzzy logic system-PSO in swarm-49 automatically on range [-1.5 – 1.4] as input and produces the average position error x is -3.5923x10-2 m, the average position error y is -2.312x10-2 m, and the average position error θ is -0.66324x10-2 rad.