Fuzzy Logic Control Design for Leader-Follower Method Using Zigbee Communication Module

Technology nowadays is developed rapidly. One of technology development is mobile robot that can addopt behaviour of the living creature like swarm insect. There are several kinds of form and task can be done by mobile robot, one of them is leader follower. Leader follower is the concept of position changing to tracking formation from leader robot. Position changing movement of two robots are used Xbee series1 communication module that functionalized as a end device (for leader robot and follower robot), router (Xbee map 1 and 3), and coordinator (Arduino Mega). Besides, mobile robot also need control sistem to determine of position changing. Control system being use fuzzy logic control which used two input like distance and angel and output like right and left PWM. The implementaion of control mobile robot is begin with the followers position is fixed straight to the line, turn left, and turn right. The test that has been done shows position error Xstraight = 1%, Xtright = 2%, and Xleft = 3%. It because turning the velocity of mobile robot faster than CMPS10 measurement