Floating Robot Control System for Monitoring Water Quality Levels in Citarum River

Abstract

Water is the primary need of every living thing, with the availability of water for living things, it is very helpful for daily needs. Especially river water in Indonesia has been heavily polluted, the pollution can come from industrial, household, agricultural and fishery waste. Therefore, the purpose of this research is to make a robotic solution to monitor river water quality regularly and can be monitored in real-time. The results obtained from this test are spherical robots and for fuzzy logic controller systems use 5 membership functions for yaw parameters with a sensor reading angle limit value [-90°, 90°]. For the pitch parameter, there are 3 membership functions with the limitation of sensor reading angle value [-32°, 32°]. There is a moving average as a filter to process the reading value of the gyroscope with a sample value of 10 times the reading because the response is following the actual reading and minimal noise. Dispatch of robot control commands can be sent and received in real-time. Haversine Formula calculation results have an accuracy of 92.67076% compared to the calculation of the distance from google maps.