Penerapan multimikrokontroler untuk robot pemadam api berbasis logika fuzi

WIDODO, Nuryono Satya, Prof. Adhi Susanto, M.Sc., Ph.D

2009 | Tesis | S2 Teknik Elektro

Penelitian ini mencoba meneliti bagaimana penerapan multimikrokontroler pada suatu model robot mobil pemadam api berbasis logika fuzi. Kendali logika fuzi yang dibangun menggunakan pendekatan berbasis perilaku (behavior-based approach), berdasarkan informasi dari tujuh buah sensor ultrasonik dan sensor api, serta tiga buah tactile switch. Pendekatan berbasis perilaku dimplementasikan dalam beberapa perilaku individual yang memiliki tingkat prioritas yang berbeda. Adapun perilaku yang dibangun adalah : menghindari rintangan, menyusuri dinding, dan menemukan api, serta sebuah perilaku darurat melepaskan diri.

This research developed a fuzzy logic based fire extinguishing robot as implemented with a multimicrocontroller system. Fuzzy logic controller was developed based on behavior based approach. The Controller inputs were obtained from seven sonar sensor, a flame detecting sensor and three tactile switch. Behavior based approach was implemented in different level priority of behaviors. The behaviors were : obstacle avoidance, wall following and flame detecting behavior, also escaping as the emergency behavior.

Kata Kunci : Multimikrokontroler,Pengendali logika fuzi,Pendekatan berbasis perilaku,Robot mobil pemadam api,Menghindari halangan,Menyusuri dinding, Multimicrocontroller, Fuzzy logic controller, behavior based approach, fire extinguisher mobile robot, obstacle avoidan