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SEBUAHMODELBERBASISPENGETAHUAN
ISSN: 1693-6930 Terakreditasi DIKTI, SK No: 51/DIKTI/Kep/2010 81
SEBUAH MODEL BERBASIS PENGETAHUAN UNTUK
PENGENDALIAN FORMASI SISTEM ROBOT MAJEMUK
Andi Adriansyah
Program Studi Teknik Elektro, Fakultas Teknologi Industri, Universitas Mercu Buana
Jl. Raya Meruya Selatan, Kembangan, Jakarta 1165, Tlp/Fax : 021-5871335
e-mail: andi@mercubuana.ac.id
Abstract
Study of multi-robot system has been popular in recent years. This system is able to
reduce processing time of some processes, the cost and complexity of the system. However,
multi-robot system also has some problems. One of the problems faced by these systems is
how to control robots in a certain formation when carrying out its functions. Several methods
have been offered to resolve the existing problems. This study tries to offer a method to solve
the problem, by modeling the multi-robot systems and implement a control system in order to
maintain a specific formation. The study attempted to use a controller based on knowledge base
system. Model is developed using MATLAB software and simulated to determine the
performance. Several experiments are conducted to determine the movement of the robot and
its ability to maintain a specific formation. From the experiments it can be said that the modeling
of multiple-robot system has been reliable. In addition, formation control actions have also been
running well, although there should be further development.
Keywords : formation control, knowledge based, modeling system, multi-robot system
Abstrak
Kajian
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