Fuzzy Logic Control for Avoiding Static Obstacle in Autonomous Vehicle Robot

In the fields of technology and industrial automation, robots are now widely used to help reduce human labor. A robot is a mechanical system that can perform complex actions automatically based on computer programmed. In order to build an automated robot, navigation is one of the main problems that still to be solved until now. Many researchers have been use various methods to improve the navigation system of autonomous robots. This research attempts to implement a fuzzy method in an autonomous robot, which aims to maintain the distance between the robot and the obstacle, so that the robot can avoid the obstacle smoothly. In this study, we used three HCSR04 ultrasonic sensors as an input that installed on the front of the robot, and the Arduino MEGA 2560 as a microcontroller. The experiment has been done using case study where the distance of obstacle to the right sensor, middle sensor, and left sensor is 5 cm, 8 cm, and 17 cm respectively. The output of fuzzy is the speed of the PWM motor. Based on the results, the simulation shows the speed of right and left PWM motor is 167 and 33.4 respectively. Meanwhile, the experiment show that the right side PWM motor is 166.61 and the left side motor PWM is 33.89. According to this result, we can conclude that the fuzzy logic control was successfully implemented in the robot to avoid obstacles, the performance value of the right motor is 99.998%, and the performance value of the left motor is 99.086%. It can be seen that the output comparison between the simulation with the realization in the robot is not much different, it’s indicate that the realization of fuzzy logic in the robot to avoid obstacles is successful.