PENGATURAN GERAK ROBOT IKAN MENGGUNAKAN LOGIKA FUZZY

Microcontroller is one of discipline that used nowadays. Combining microcontroller system and mechanical, we could build a control system with digitally based and the use of manually system is no longer needed. There are many kind of software that we can used for control system application. One of them is fuzzy logic system. The research use fuzzy logic implementation with Tsukamoto method as fuzzy inference. Goal of the research are to build a robotic fish that flow on the water with fuzzy logic implementation in software designing. The fish robot has a capability to execute forward delay, thrust delay and to stop before crashing a wall or other object. Fuzzy logic control method and look up table method used as a control system method. Both of control system method implemented in fish robot then compared to get best result.

Results of the research are fuzzy logic can be implemented into microcontroller system, fuzzy logic can transformed into an assembly language in a simple ways especially for Tsukamoto method.