Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation
Autonomous mobile robot will become an interest by many researchers. Due to needs of an effective navigational system for the robot, many approach was purposed to control the reliability of the system in order to achieve an optimum control system respond. Nowadays, AI was used as one of the ap...
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my-uthm-ep.69732022-04-24T00:34:10Z Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation 2022-02 Mohamad Pauzi, Alif Aiman QA801-939 Analytic mechanics Autonomous mobile robot will become an interest by many researchers. Due to needs of an effective navigational system for the robot, many approach was purposed to control the reliability of the system in order to achieve an optimum control system respond. Nowadays, AI was used as one of the approached to enhance the decision making by the robot itself without depending on the user. In this development, multiple sensors were implemented to increase the detection accuracy of the prototype during navigate on constantly changing environment. By using multiple sensors (ultrasonic sensor) it means that, it will have more input information so, in order to manage all of this data information, intelligent control strategy was required to achieve an optimum output in term of efficiency and accuracy. On this development, previous prototype was upgraded into more intelligent system. Fuzzy Logic was introduced to this development by using a Takagi Sugeno inference method. In this project Fuzzy control was designed with aid of computing software (MATLAB) and by using a Arduino MEGA controller Fuzzy logic control was apply to realize the real-time simulation for the robot navigation. The fire detection unit by using IR sensor module was purposed to make sure it can scan the IR wave generated by the flame. Differential steering method was selected for semi-autonomous robot driving system and it was powered by 2 DC motor for the robot navigation. All the function of the robot is tested in order to evaluate the capability of the system on the robot by referred to the project scope. On this development, the effectiveness of the system was vary with the number of Fuzzy Rule. The effectiveness of the Fuzzy control was observed by the time taken for the prototype completed the route and the time respond for the prototype to avoid obstacle during the navigation inside the test rig. 2022-02 Thesis http://eprints.uthm.edu.my/6973/ http://eprints.uthm.edu.my/6973/1/24p%20ALIF%20AIMAN%20MOHAMAD%20PAUZI.pdf text en public http://eprints.uthm.edu.my/6973/2/ALIF%20AIMAN%20MOHAMAD%20PAUZI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6973/3/ALIF%20AIMAN%20MOHAMAD%20PAUZI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik |
| institution |
Universiti Tun Hussein Onn Malaysia |
| collection |
UTHM Institutional Repository |
| language |
English English English |
| topic |
QA801-939 Analytic mechanics |
| spellingShingle |
QA801-939 Analytic mechanics Mohamad Pauzi, Alif Aiman Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| description |
Autonomous mobile robot will become an interest by many researchers. Due to needs
of an effective navigational system for the robot, many approach was purposed to
control the reliability of the system in order to achieve an optimum control system
respond. Nowadays, AI was used as one of the approached to enhance the decision
making by the robot itself without depending on the user. In this development, multiple
sensors were implemented to increase the detection accuracy of the prototype during
navigate on constantly changing environment. By using multiple sensors (ultrasonic
sensor) it means that, it will have more input information so, in order to manage all of
this data information, intelligent control strategy was required to achieve an optimum
output in term of efficiency and accuracy. On this development, previous prototype
was upgraded into more intelligent system. Fuzzy Logic was introduced to this
development by using a Takagi Sugeno inference method. In this project Fuzzy control
was designed with aid of computing software (MATLAB) and by using a Arduino
MEGA controller Fuzzy logic control was apply to realize the real-time simulation for
the robot navigation. The fire detection unit by using IR sensor module was purposed
to make sure it can scan the IR wave generated by the flame. Differential steering
method was selected for semi-autonomous robot driving system and it was powered
by 2 DC motor for the robot navigation. All the function of the robot is tested in order
to evaluate the capability of the system on the robot by referred to the project scope.
On this development, the effectiveness of the system was vary with the number of
Fuzzy Rule. The effectiveness of the Fuzzy control was observed by the time taken for
the prototype completed the route and the time respond for the prototype to avoid
obstacle during the navigation inside the test rig. |
| format |
Thesis |
| qualification_name |
Master of Philosophy (M.Phil.) |
| qualification_level |
Master's degree |
| author |
Mohamad Pauzi, Alif Aiman |
| author_facet |
Mohamad Pauzi, Alif Aiman |
| author_sort |
Mohamad Pauzi, Alif Aiman |
| title |
Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| title_short |
Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| title_full |
Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| title_fullStr |
Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| title_full_unstemmed |
Implementation of Takagi Sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| title_sort |
implementation of takagi sugeno method as fuzzy logic control with multiple sensors on fire fighter robot prototype navigation |
| granting_institution |
Universiti Tun Hussein Onn Malaysia |
| granting_department |
Fakulti Kejuruteraan Elektrik dan Elektronik |
| publishDate |
2022 |
| url |
http://eprints.uthm.edu.my/6973/1/24p%20ALIF%20AIMAN%20MOHAMAD%20PAUZI.pdf http://eprints.uthm.edu.my/6973/2/ALIF%20AIMAN%20MOHAMAD%20PAUZI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6973/3/ALIF%20AIMAN%20MOHAMAD%20PAUZI%20WATERMARK.pdf |
| _version_ |
1747831101143908352 |