Speed Control and Obstacle Avoidance of A Hexapod Mobile Robot using Mamdani type Fuzzy Logic Controller

摘要

Automation technology cannot be separated from the presence of robots. One of the forms of robots that are made similar to insects is the hexapod robot. One of the capabilities that must be possessed by a mobile robot in achieving its mission is the ability to avoid obstacles and effectiveness in its movement. This paper describes the design and implementation of speed control and obstacle avoidance of a hexapod robot using the Mamdani type fuzzy logic controller. The robotic system consists of the Arduino mega 2560 microcontroller, the HC-SR04 sensors, and the XISC-32 servo motor controller. The input variables for fuzzy systems are composed of two, namely the distance between the robot and the obstacle in front of the robot and the difference between the distance and reference, while the output variable is the delay time of the driving signal which correlates with the speed of robot movement. All input and output variables are divided into three fuzzy sets with triangular membership functions. Experimental results show the robot has obstacle avoidance abilities and moves effectively. The robot goes forward with the speed of motion according to the distance of the robot with obstacles. When the robot moves forward, the robot is able to change its speed from 7.34 cm/s to 4.12 cm/s as it moves closer to the obstacle.