LIFTING CONTROL SYSTEM PADA AUTONOMOUS UNDERWATER VEHICLES MENGGUNAKAN METODE FUZZY
Daftar Isi:
- Based on the control system underwater vehicles are divided into two types, namely Autonomous Underwater Vehicles (AUV) and Remoted Operated Vehicles (ROV). AUV is an autonomous underwater vehicle, while the ROV is an underwater vehicle driven by a remote control from above the water surface. This study will apply the lifting control system to the AUV in knowing objects under the AUV and maintaining the stability of the AUV when carrying out underwater lifting. When the AUV lifting process uses fuzzy methods for rule-based decision making aimed at solving problems. In this study a program simulation for AUV was made. There are 2 sonar sensors, 1 located on the front and 1 located on the rear of the AUV to determine the obstacles under the AUV. Furthermore, the input will be processed to the microcontroller using the fuzzy method and the output of the microcontroller will produce a PWM value that will regulate the speed on the motor. The program for the simulation used is Microsoft Visual Studio 2010 to display the simulation results that have been programmed on Arduino.