Fuzzy Hierarchical Model and Particle Swarm Optimization in Gas Leakage Detector Mobile Robot

Abstract

Mobile robots have been widely applied to various aspects of life. For example, a robot for detecting gas leaks. The process of finding this gas leak can be done by mobile robots automatically, but in the search process, there are three challenges to be faced. Namely vast search space, complexity in handling objects in an unstructured environment, and a certain level of intelligence is needed, so that the search process on mobile robots becomes optimal. To answer these challenges, control methods will be developed with the Fuzzy Hierarchical Model (FHM) and Particle Swarm Optimization (PSO). Where the methods are expected to be able to control mobile robots to search for gas leaks, in a complex specific virtual environment more optimally. In this research, the design of the FHM-PSO control model was carried out and then applied to an FHM-PSO software application that can control the swarm robot model until it successfully reaches the gas leak center in a specific complex virtual environment optimally.