SISTEM KENDALI FUZZY-PID PADA ROBOT WALL FOLLOWER ACKERMAN STEERING

Abstract

This paper proposes the use of Fuzzy-PID algorithm combination to drive a wall following wheeled mobile robot with ackerman steering mode. PID controller is designed to control wall following’s task during smooth changes of inputs, when its changes suddenly become too large, then fuzzy controller is used. The main components of wheeled mobile robot on this research are microcontroller as the central of processing, ultrasonic distace sensor, dc motor as main movement actuator, servo motor as direction steering. The values captured by ultrasonic sensor are used as the input for determining the movement of wheeled mobile robot based on wall following task. The behaviour of PID controller and Fuzzy-PID controller combination was obeserved by experiments. The scenario of experiments is consist of controlling of ackerman steering at constant speed of main actuator and controlling both of them. By observing the error and time responses resulted from the experiments show that Fuzzy-PID gave better perfomance.