Position Control System On Autonomous Vehicle Movement Using Fuzzy Logic Methods

An autonomous vehicle is designed to be driven automatically without a crew controlling it. The autonomous vehicle can ease the people in driving. Thus, a control system is important to ensure the autonomous electric vehicle run properly. Various control systems can be implemented on the autonomous vehicle. However, the previous studies have shown that the inaccuracy and inconsistency may still occur. Thus, this study presents the combination of compass and fuzzy logic to control the position of the autonomous vehicle. The Sugeno fuzzy logic method is used to control the position of the movement of autonomous vehicle by considering several inputs, such as the direction to the destination, the position of the destination, and the distance to the intended target. Meanwhile, the rotational speed of the motor becomes the output. In this study, the autonomous vehicle was run in Universitas Sriwijaya located in two locations, namely at Palembang Campus, and Indralaya Campus. The results show that the autonomous vehicle was able to reach the destination position with the motor speed output on the autonomous electric vehicle which was read according to the fuzzy. This study shows that fuzzy rule for 5 memberships function has the lowest heading error of 6.8 degrees compared to 3 memberships function. Nevertheless, 3 memberships function has the shortest time to reach the destination. The results of this study indicate that the control system using the fuzzy logic method works well.