Application of Type-1 and Type-2 Fuzzy Logic Controller for The Real Swarm Robot

Authors

  • Ade Silvia Handayani Politeknik Negeri Sriwijaya
  • Nyayu Latifah Husni Politeknik Negeri Sriwijaya
  • Siti Nurmaini Universitas Sriwijaya
  • Irsyadi Yani Universitas Sriwijaya

DOI:

https://doi.org/10.3991/ijoe.v15i06.10075

Keywords:

interval type 2 fuzzy logic, navigation, type 1 fuzzy logic, swarm robot

Abstract


Navigation is one of the typical problem domains occurred in studying swarm robot. This task needs a special ability in avoiding obstacles.  This research presents the navigation techniques using type 1 fuzzy logic and interval type 2 fuzzy logic. A comparison of those two fuzzy logic performances in controlling swarm robot as tools for complex problem modeling, especially for path navigation is presented in this paper.  Each hierarchical of fuzzy logic shows its advantages and disadvantages.  For testing the robustness of type-1 fuzzy logic and interval type-2 fuzzy logic algorithms, 3 robots for the real swarm robot experiment are used.  Each is equipped with one compass sensor, three distance sensors, and one X-Bee communication module.  The experimental results show that type-2 fuzzy logic has better performance than type-1 fuzzy logic.

Author Biographies

Ade Silvia Handayani, Politeknik Negeri Sriwijaya

an intelligent system, robotics, electrical engineering

Nyayu Latifah Husni, Politeknik Negeri Sriwijaya

an intelligent system, robotics, electrical engineering

Siti Nurmaini, Universitas Sriwijaya

machine learning, deep learning, robotic and control, and also bioinformatics

Irsyadi Yani, Universitas Sriwijaya

Artificial Intelligence, Automatic Sorting System, and Finite Element Analysis

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Published

2019-03-29

How to Cite

Handayani, A. S., Husni, N. L., Nurmaini, S., & Yani, I. (2019). Application of Type-1 and Type-2 Fuzzy Logic Controller for The Real Swarm Robot. International Journal of Online and Biomedical Engineering (iJOE), 15(06), pp. 83–98. https://doi.org/10.3991/ijoe.v15i06.10075

Issue

Vol. 15 No. 06 (2019)

Section

Papers

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