<p>Pada penelitian ini, akan diterapkan konsep <em>fuzzy logic </em>sebagai kendali cerdas pada robot line follower. Aturan pada <em>fuzzy logic</em> menggunakan metode <em>mamdani</em>. Sebagai input kendali digunakan 2 nilai hasil pembacaan sensor garis yang merupakan data biner 6-bit, yaitu pembacaan pada saat sampling ke-(<em>k</em>)<em> </em>dan pembacaan pada saat sampling ke-(<em>k-1</em>). Hasil pembacaan sensor diberi bobot dengan range nilai dari 0 s/d 255 yang merupakan semesta pembicaraan dari fuzzy set input ini. Setiap fuzzy set input menggunakan 5 <em>membershif function, </em>dan <em>rule base </em>yang digunakan sebanyak 25. Pada fuzzy set output digunakan 5 <em>membership function </em>dengan semesta pembicaraan adalah -127 s/d +127. output fuzzy merupakan bilangan crips tunggal yang didapat dengan menggunakan metode COG (<em>Center of Gravity</em>). Nilai crips output ini digunakan sebagai nilai deviasi untuk mengatur nilai PWM pada motor penggerak roda kiri dan kanan dari robot line follower. Pengujian fungsi kendali menggunakan metode matematis dan simulasi berbasis Simulink. Dari hasil yang didapat menjelaskan bahwa robot dapat bergerak sesuai dengan desain rule base yang digunakan.</p><p> </p><p> </p><p><strong><em>Abstract</em></strong></p><p><strong><em> </em></strong><em>In this research, the fuzzy logic concept will be applied as intelligent control on line-follower robot. The rules on fuzzy logic use the Mamdani method. As control inputs, used 2 values of line sensor readings are in the form of 6-bit binary data. the input is the sensor reading at the time of the kth sampling and the reading at the k-sampling moment. The sensor readings are weighted with a range of values from 0 s / d 255 which is the universe of speech from the fuzzy set of these inputs. Each fuzzy set of inputs uses 5 membership function, and the base rule used is 25. In fuzzy set output used 5 membership functions with the universe of talk is -127 s / d +127. the fuzzy output is a single crips number obtained by using the COG (Center of Gravity) method. This output crips value is used as the deviation value to set the PWM value on the left and right wheel drive motor of the line follower robot. Tests of control functions using mathematical methods and Simulink based simulations. From the results obtained to explain that the robot can move in accordance with the design of the base rule used</em></p><p> </p>
In this research the master-slave method implemented on an embedded system using 3 processor applied to the mobile robot, to know the speed of program execution of robot. As a comparison is also used a robot with an embedded system based on single processor. From the experimental results, by applying the slave master method obtained the execution time of 546,5 μs and the number of iteration 1079, while for single processor-based system obtained execution time average 67828 μs and the amount of iteration average 147 times. Where the number of iterations is obtained by running the robot for 10 s. From this experiment, it can be concluded that there is a performance increase of 7.3% when compared to embedded systems based on single processor.
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