Rancang Bangun Robot Wall follower dengan Kendali Fuzzy-PID Berbasis Sensor Ultrasonik

Burhanudin Burhanudin

doi:10.61132/mars.v3i6.1234

Authors

Burhanudin Burhanudin Universitas 17 Agustus 1945 Jakarta

DOI:

https://doi.org/10.61132/mars.v3i6.1234

Keywords:

Fuzzy-PID Control, Robot Navigation, System Control, Ultrasonic Sensor, Wall follower Robot

Abstract

A wall follower robot is a type of autonomous robot that is designed to move by following a wall at a certain distance. This research aims to design and build a Wall follower robot equipped with a Fuzzy-PID control system to improve navigation performance. The robot uses five HC-SR04 ultrasonic sensors to detect the distance to the wall and the surrounding obstacles. The data from the sensor is then processed by a Fuzzy-PID algorithm that combines the advantages of conventional PID control with fuzzy logic, resulting in a more adaptive response to environmental conditions. The test results showed that the robot with Fuzzy-PID control was able to maintain the stability of the distance to the wall more consistently compared to the pure PID control. In addition, the system exhibits better adaptability to complex environmental conditions, such as sharp turns, uneven wall surfaces, and the presence of resistance variations. The application of Fuzzy-PID control has been shown to improve the stability, response speed, and accuracy of the robot's navigation. These findings are expected to contribute to the development of robotic navigation systems for a wide range of practical applications, including automated cleaning robots, environmental exploration, and industrial systems that require reliable autonomous mobility.

References

Akmal Arista, A., Paradifta, K. A., Nugraha, Z., & Priambodo, A. S. (2024). Implementasi fuzzy logic pada kendali robot e-puck wall following. JEECAE: Journal of Electrical, Electronic, Control and Automotive Engineering, 9(1), 16–21. http://journal.pnm.ac.id/

Biswas, H. A. (2022). Fuzzy PID based navigation of autonomous mobile robot (Master’s thesis). Universiti Teknologi Malaysia.

Chen, C.-H., Jeng, S.-Y., & Lin, C.-J. (2020). Mobile robot wall-following control using fuzzy logic controller with improved differential search and reinforcement learning. Mathematics, 8(8), 1254. https://doi.org/10.3390/math8081254

Dash, T. (2015). Automatic navigation of wall-following mobile robot using adaptive resonance theory of type-1. Biologically Inspired Cognitive Architectures, 12, 1–8. https://doi.org/10.1016/j.bica.2015.04.008

Dormino, S. (2006). Advanced PID control—[Book review]. IEEE Control Systems Magazine, 26(1), 98–101. https://doi.org/10.1109/MCS.2006.1580160

Jantzen, J. (2008). Design of fuzzy controllers. Department of Automation, Technical University of Denmark.

Misaroș, M., Stan, O.-P., Donca, I.-C., & Miclea, L.-C. (2023). Autonomous robots for services—State of the art, challenges, and research areas. Sensors, 23(10), 4962. https://doi.org/10.3390/s23104962

Nirmala, I., & Hidayati, R. (2024). Sistem navigasi otonom robot mobil berbasis ROS pada robot penggerak diferensial. INFOTECH Journal, 10(2), 288–296. https://doi.org/10.31949/infotech.v10i2.11219

Sobirin, M., & Hidayat, A. S. (2025). Rancang bangun robot wall follower dengan kendali PID berbasis sensor ultrasonik. Jurnal Kajian Teknik Elektro, 10(1), 79–87. https://doi.org/10.52447/jkte.v10i1.7839

Solekha, R., & Latifa, U. (2024). Sistem kendali proportional integral derivative (PID) menggunakan mikrokontroler Arduino pada Tinkercad. ELECTRON: Jurnal Ilmiah Teknik Elektro, 5(1), 89–97. https://doi.org/10.33019/electron.v5i1.108

Sukardi, S., & Zain, S. G. (2021). Pengembangan algoritme gerak robot hexapod menggunakan logika fuzzy.

Thrun, S., Burgard, W., & Fox, D. (1999). Probabilistic robotics. MIT Press.

Wang, J. J., Jing, Y. Y., Zhang, C. F., & Zhao, J. H. (2009). Review on multi-criteria decision analysis aid in sustainable energy decision-making. Renewable and Sustainable Energy Reviews, 13(9), 2263–2278. https://doi.org/10.1016/j.rser.2009.06.021

Zadeh, L. A. (1973). Outline of a new approach to the analysis of complex systems and decision processes. IEEE Transactions on Systems, Man, and Cybernetics, SMC-3(1), 28–44. https://doi.org/10.1109/TSMC.1973.5408575

Zaki, A. A. (2021). Rancang bangun wall tracer robot menggunakan sensor ultrasonik HC-SR04 berbasis fuzzy logic control.