Design of Ground Vehicle System Semi-autonomous Preceder Type for Straight Path and Circular Path using Fuzzy Logic Method

Illa Rizianiza, Adhe Yusphie Panca Tentra Sandika

2019

Abstract

The development of the robotics system increase significantly. Recently, robotics become an opportunity for people to use those in many activities, for instance, automatic control systems in the land, which can be referred to as Unmanned Ground Vehicle (UGV). Unmanned Ground Vehicle (UGV) has several categories based on autonomous systems provided, namely teleoperated, semi-autonomous, platform-centric, and network-centric. In this study, the prototype of the UGV system is a semi-autonomous type using the fuzzy logic method as a control system. The input of fuzzy logic is the distance between the prototype and obstacle. However, the output variable is the action of UGV to control the safe distance from the obstacle. The design fuzzy logic system has been integrated with the robotdyn UNO microcontroller device as a controller of UGV. The test results showed that the prototype could keep tracking to control the distance according to rule base fuzzy logic. The setpoint has been set up at 10 cm - 15 cm from the obstacle and the results of the semi-autonomous system movement that has been applied in-ground vehicle prototype. The average error is 9 cm. This number still intolerance in tracking control.

Paper Citation

in Harvard Style

Rizianiza I. and Sandika A. (2019). Design of Ground Vehicle System Semi-autonomous Preceder Type for Straight Path and Circular Path using Fuzzy Logic Method.In Proceedings of the 1st International Conference on Industrial Technology - Volume 1: ICONIT, ISBN 978-989-758-434-3, pages 177-183. DOI: 10.5220/0009443401770183

in Bibtex Style

@conference{iconit19,
author={Illa Rizianiza and Adhe Yusphie Panca Tentra Sandika},
title={Design of Ground Vehicle System Semi-autonomous Preceder Type for Straight Path and Circular Path using Fuzzy Logic Method},
booktitle={Proceedings of the 1st International Conference on Industrial Technology - Volume 1: ICONIT,},
year={2019},
pages={177-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009443401770183},
isbn={978-989-758-434-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Industrial Technology - Volume 1: ICONIT,
TI - Design of Ground Vehicle System Semi-autonomous Preceder Type for Straight Path and Circular Path using Fuzzy Logic Method
SN - 978-989-758-434-3
AU - Rizianiza I.
AU - Sandika A.
PY - 2019
SP - 177
EP - 183
DO - 10.5220/0009443401770183