PENERAPAN MULTI-MIKROKONTROLER PADA MODEL ROBOT MOBIL BERBASIS LOGIKA FUZI

Nuryono Satya Widodo (Universitas Ahmad Dahlan)

TELKOMNIKA (Telecommunication Computing Electronics and Control)
Vol 7, No 3: December 2009

This paper proposed a fuzzy logic based mobile robot as implemented in a multimicrocontroller system. Fuzzy logic controller was developed based on a behavior based approach. The Controller inputs were obtained from seven sonar sensor and three tactile switches. Behavior based approach was implemented in different level priority of behaviors. The behaviors were: obstacle avoidance, wall following and escaping as the emergency behavior. The results show that robot was able to navigate autonomously and avoid the entire obstacle.