The Design of Mobile Robot Heading Control using Fuzzy Logic Controller

This paper introduces the design and implementation of mobile robot heading control using fuzzy logic control, then analyzes the response of the control system. The BNO055 sensor is used to determine the heading value in the mobile robot. The fuzzy method used is the mamdani method. In the fuzzy logic control process, it uses 1 input, namely the heading error and 1 output, namely the speed motor. Based on the test results, the application of fuzzy logic control for heading control at setpoints 90°, 180°, and 270° has successive rise time values of 2047 ms, 4141 ms, and 6203 ms, consecutive settling time values of 3831.2 ms, 5859 ms, and 8640 ms, an overshoot value is 0% and a steady state error value is 0%.