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PERANCANGAN PENGENDALI ROBOT BERGERAK BERBASIS PERILAKU MENGGUNAKAN PARTICLE SWARM FUZZY CONTROLLER

Jurnal Ilmu Komputer dan Informasi (JIKI) · Vol. 3 No. 1 (2012) · pp. 1–9

DOI
10.21609/jiki.v3i1.135
ISSN
2502-9274, 2088-7051
Published
2012-05-29
Publisher
Faculty of Computer Science - Universitas Indonesia
Language
eng

Abstract

Paper ini memaparkan perancangan pengendali robot berbasis perilaku menggunakan Fuzzy, di mana parameter Fuzzy ditala secara otomatis menggunakan Particle Swarm Optimization (PSO) yang diistilahkan dengan Particle Swarm Fuzzy Controller (PSFC). Suatu fungsi tertentu dirancang untuk meningkatkan performa proses pencarian PSO. Fungsi tersebut mengubah harga bobot inersia menjadi berkurang secara sigmoid (Sigmoid Decreasing Inertia Weight). Empat buah perilaku robot dirancang menggunakan PSFC. Kemudian seluruh perilaku tersebut juga dikoordinasikan menggunakan PSFC. Beberapa simulasi pengendalian pergerakan robot dan percobaan dengan robot MagellanPro telah dilakukan untuk menguji performa algoritma yang dirancang. Algoritma lain, Genetic Fuzzy Controller (GFC) digunakan sebagai pembanding. Dari hasil pengujian dapat dikatakan bahwa pengendali yang dirancang memiliki kemampuan yang baik untuk menyelesaikan tugasnya pada suatu lingkungan nyata. This paper describes the design of robots controllers based on behaviour using Fuzzy, in which the Fuzzy parameters are automatically tuned using the Particle Swarm Optimization (PSO) which is termed the Particle Swarm Fuzzy Controller (PSFC). A particular function is designed to improve the performance of PSO search process. That particular function changes the value of the inertia weight, so it’s decreased in sigmoid (Sigmoid Decreasing Inertia Weight). Four types of robots behaviour are designed and coordinated using the PSFC. Some simulation of the robot movement control and experiments with the robot MagellanPro have been conducted to test the performance of the algorithm that have been designed. Another algorithm, Genetic Fuzzy Controller (GFC) is used as a comparison. From the test results, it can be said that the controllers that have been designed, have a good ability to accomplish its task in a real environment.

Keywords

Collaboration network of the authors

8 authors · 13 co-authorship links · 10 across different organisations

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Mercu Buana University
  • Bandung Institute of Technology
  • University of Technology Malaysia
  • Indonesia University of Education
  • National Research and Innovation Agency
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Shamsudin H. M. AminUniversity of Technology Malaysia1
Muchamad Rizky NugrahaAffiliation unknown1
Arif BasukiMercu Buana University1
Jaja KustijaIndonesia University of Education1
Diki FahrizalBandung Institute of Technology1
Muhamad NasirNational Research and Innovation Agency1
Muhammad Husni MuttaqinBandung Institute of Technology1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://jiki.cs.ui.ac.id/index.php/jiki/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">PERANCANGAN PENGENDALI ROBOT BERGERAK BERBASIS PERILAKU MENGGUNAKAN PARTICLE SWARM FUZZY CONTROLLER</dc:title>
	<dc:creator>Adriansyah, Andi</dc:creator>
	<dc:subject xml:lang="en-US">behavior-based robots</dc:subject>
	<dc:subject xml:lang="en-US">fuzzy logic controllers</dc:subject>
	<dc:subject xml:lang="en-US">moving robot</dc:subject>
	<dc:subject xml:lang="en-US">particle swarm optimization</dc:subject>
	<dc:subject xml:lang="en-US">pengendali logika fuzzy</dc:subject>
	<dc:subject xml:lang="en-US">robot berbasis perilaku</dc:subject>
	<dc:subject xml:lang="en-US">robot bergerak</dc:subject>
	<dc:description xml:lang="en-US">Paper ini memaparkan perancangan pengendali robot berbasis perilaku menggunakan Fuzzy, di mana parameter Fuzzy ditala secara otomatis menggunakan Particle Swarm Optimization (PSO) yang diistilahkan dengan Particle Swarm Fuzzy Controller (PSFC). Suatu fungsi tertentu dirancang untuk meningkatkan performa proses pencarian PSO. Fungsi tersebut mengubah harga bobot inersia menjadi berkurang secara sigmoid (Sigmoid Decreasing Inertia Weight). Empat buah perilaku robot dirancang menggunakan PSFC. Kemudian seluruh perilaku tersebut juga dikoordinasikan menggunakan PSFC. Beberapa simulasi pengendalian pergerakan robot dan percobaan dengan robot MagellanPro telah dilakukan untuk menguji performa algoritma yang dirancang. Algoritma lain, Genetic Fuzzy Controller (GFC) digunakan sebagai pembanding. Dari hasil pengujian dapat dikatakan bahwa pengendali yang dirancang memiliki kemampuan yang baik untuk menyelesaikan tugasnya pada suatu lingkungan nyata.

This paper describes the design of robots controllers based on behaviour using Fuzzy, in which the Fuzzy parameters are automatically tuned using the Particle Swarm Optimization (PSO) which is termed the Particle Swarm Fuzzy Controller (PSFC). A particular function is designed to improve the performance of PSO search process. That particular function changes the value of the inertia weight, so it’s decreased in sigmoid (Sigmoid Decreasing Inertia Weight). Four types of robots behaviour are designed and coordinated using the PSFC. Some simulation of  the robot  movement control and experiments with the robot MagellanPro have been conducted to test the performance of the algorithm that have been designed. Another algorithm, Genetic Fuzzy Controller (GFC) is used as a comparison. From the test results, it can be said that the controllers that have been designed, have a good ability to accomplish its task in a real environment.</dc:description>
	<dc:publisher xml:lang="en-US">Faculty of Computer Science  - Universitas Indonesia</dc:publisher>
	<dc:date>2012-05-29</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/135</dc:identifier>
	<dc:identifier>10.21609/jiki.v3i1.135</dc:identifier>
	<dc:source xml:lang="en-US">Jurnal Ilmu Komputer dan Informasi; Vol. 3 No. 1 (2010): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information); 1-9</dc:source>
	<dc:source>2502-9274</dc:source>
	<dc:source>2088-7051</dc:source>
	<dc:source>10.21609/jiki.v3i1</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/135/253</dc:relation>
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