Design of Automatic Under Water Robot System Based on Mamdani Fuzzy Logic Controller

摘要

Underwater robot is one of the robots that maneuver under water. This robot is controlled using a remote control or more commonly known as ROV. However, when controlled by the remote often interruptions or connections are often disconnected. Therefore, it is necessary to make an underwater robot that can move automatically. In this study a discussion about automatic underwater robot simulation using the fuzzy method. Simulations performed on matlab software to get a model of each membership fuction and get the value of the output. The sensor used is an ultrasonic water resist sensor and the motor used is a brushless motor. The parameters used are for the input is the front sensor distance, rear sensor distance and bottom sensor distance while the output parameters used are the right motor speed, left motor speed, right bottom motor speed and bottom left motor speed. The number of rules used is 125 rules. In this research, a case study with a distance sensor value of 30 cm, 30cm and 60 cm was completed. Then using the simulation, the output value as follows: PWM value for right motor is 17.3 PWM value for left motor 110 while for PWM value for motor bottom is 80. From the values it can be concluded that the robot in the maneuver turns right with the position at a medium height.