RANCANG BANGUN ROBOT PENGHINDAR HALANGAN DENGAN METODE FUZZY

kamal, fajar mushthofa (2025) RANCANG BANGUN ROBOT PENGHINDAR HALANGAN DENGAN METODE FUZZY. Undergraduate thesis, Univesitas 17 Agustus 1945 Surabaya.

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Abstract

Pengembangan robot mobile otonom memerlukan kemampuan untuk mendeteksi dan menghindari hambatan secara otomatis untuk meningkatkan keselamatan dan efisiensi di lingkungan yang dinamis. Studi ini bertujuan untuk merancang robot penghindar rintangan berbasis logika fuzzy, yang memungkinkan adaptasi pengambilan keputusan mirip dengan penalaran manusia. Sistem ini dikendalikan oleh ESP-32. mikrokontroler, terintegrasi dengan sensor ultrasonik untuk mengukur jarak ke objek terdekat, dan driver motor L298N untuk mengontrol arah dan kecepatan motor DC menggunakan H-bridge dan PWM. Selain itu, Firebase digunakan sebagai backend waktu nyata untuk pemantauan data dan manajemen. Hasil tes menunjukkan bahwa robot dapat beroperasi sesuai dengan desain, melakukan manuver seperti berbelok ke kiri, kanan, bergerak maju, atau mundur saat mendeteksi rintangan dalam jangkauan tertentu. Sistem ini terbukti efektif dalam deteksi rintangan dan penghindaran, mencapai tingkat keberhasilan yang memuaskan selama pengujian. Prototipe ini menyajikan sebuah solusi inovatif dalam penerapan sistem kontrol cerdas berbasis logika fuzzy dan diharapkan dapat berkontribusi pada kemajuan otonom yang adaptif dan responsif robotika.

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