Semi-Autonomous Navigation Robot Using Integrated Remote Control And Fuzzy Logic

Obstacle avoidance robots are designed to allow the robot to navigate in unknown environments by avoiding collisions. An obstacle avoidance robot will detect obstacles in the path and avoid them. The sensor plays an important role in the designed distance measuring system. Ultrasonic sensors are widely used in the design of distance measuring systems because ultrasonic sensors are not affected by the color of the reflecting object, the softness of the reflecting object, and are safe from interference or noise from other waves. Fuzzy logic is one of the modern controllers that can work well on non-linear systems by offering convenience in program design because it does not require a mathematical model of the process. The fuzzy-based controller is a control method that belongs to the Artificial Intelligence class. In this research, a Fuzzy Logic Control method system will be implemented to control the rotation speed of the DC motor which is caused by negligence in giving commands to the robot. Basically, this research will be applied to control using computer vision. However, the role of computer vision is replaced by a user who gives commands using a remote control. The input in this study is the distance between the robot and the obstacle using the HC-SR04 ultrasonic sensor and the input from the remote control with a maximum frequency of 2.4 GHz. Simulations have been carried out to get the value of the membership function. The simulation is carried out using a case study, where the input from the remote control is 1110 and 16 cm on the right sensor and 8 cm on the left sensor. The results of the simulation show that the speed of the right motor is 87.3 PWM and the left motor is 33.4 PWM. Based on the simulation results, the robot runs according to the rules that have been designed in the Mathlab application.