Nyayu, Latifah Husni and Handayani, Ade Silvia and Nurmaini, Siti and Yani, Irsyadi (2019) Application of Type-1 and Type-2 Fuzzy Logic Controller for the Real Swarm Robot. iJOE, 15 (6). pp. 83-98.
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Abstract
Navigation is one of the typical problem domains occurred in studying swarm robot. This task needs a special ability in avoiding obstacles. This research presents the navigation techniques using type 1 fuzzy logic and interval type 2 fuzzy logic. A comparison of those two fuzzy logic performances in controlling swarm robot as tools for complex problem modeling, especially for path navigation is presented in this paper. Each hierarchical of fuzzy logic shows its advantages and disadvantages. For testing the robustness of type-1 fuzzy logic and interval type-2 fuzzy logic algorithms, 3 robots for the real swarm robot experiment are used. Each is equipped with one compass sensor, three distance sensors, and one X-Bee communication module. The experimental results show that type-2 fuzzy logic has better performance than type-1 fuzzy logic.
| Item Type: | Article |
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| Uncontrolled Keywords: | Interval type 2 fuzzy logic, navigation, type 1 fuzzy logic, swarm robot |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering > Misc |
| Depositing User: | Mrs Trisni Handayani |
| Date Deposited: | 25 Mar 2022 01:20 |
| Last Modified: | 25 Mar 2022 01:20 |
| URI: | http://eprints.polsri.ac.id/id/eprint/11088 |
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