Bicycle Path Planning on Omnidirectional Mobile Robot Using Fuzzy Logic Controller

Abstract

Robotics is a scientific disciplines which currently is developing and becoming more desirable, omni-directional mobile robot is a type of robot that is often developed. A robot which is doing the movement can apply all sorts of methods to be implemented, one of them is the path planning. However, the problem that often happens is when a robot receives a disturbance therefore unable to return to the specified path but instead shifting from the path that has been pre-determined therefore the destination point of the path will also change. This research aims to design and implement a dynamic movement method on omni-directional mobile robot so that it can move in translation and rotation optimally. The bicycle path planning method uses a fuzzy logic controller resulting the smallest RMSE value 0. 6cm for position whereas without using fuzzy logic controller resulting the smallest RMSE value of 1. 06cm for position. Thus, when a robot which is using fuzzy logic controller in bicycle path planning is disturbed, it is able to return to its original path thus able to reach its intended destination coordinates.