Tugas Akhir

Optimization of collision avoidance system in line follower based food delivery using the fuzzy mamdani method / DAVI PERMANA PUTRA

Abstrak
The development of robotics technology in Indonesia is progressing rapidly especially in the food service sector. The use of robots for food delivery has become an innovative solution that helps improve operational efficiency and customer experience. In the Industry 4.0 era automation in this sector is increasingly essential to reduce reliance on human labor increase service speed and ensure accurate delivery. The implementation of robots in food service also helps businesses overcome labor shortages and improve competitiveness in a growing market.This study aims to optimize the collision avoidance system on a food delivery robot based on a line follower mechanism. The system was developed to be more adaptive to dynamic environmental conditions along the delivery path. It is expected to reduce the risk of collisions and improve delivery time efficiency. Moreover the application of the Fuzzy Mamdani method enhances decision-making based on ultrasonic sensor input. This research supports robotic service innovation in environments such as restaurants or offices.The method used in this study involves the integration of three ultrasonic sensors at the front of the robot to detect obstacles. Sensor data is processed by an ESP32 microcontroller and managed through a BTS7960 motor driver to control the robot rsquo s speed. Logical decisions are made using the Fuzzy Mamdani method based on three conditions stop slow and normal. The system is designed to respond in real time to obstacles. Testing was conducted to ensure the accuracy of decision-making and component integration reliability.The test results show that the collision avoidance system effectively detects and avoids obstacles. The number of collisions decreased significantly by 91.43% and delivery time efficiency improved by 7.69%. The robot was able to make decisions based on the minimum distance detected and respond promptly. The system also proved to be stable across various test scenarios. Thus the system is feasible for improving safety and efficiency in automated food delivery applications

Informasi Detail

DDC

TUGAS AKHIR DIGITAL

Prodi

Universitas Negeri Malang. Program Studi Teknologi Rekayasa Sistem Elektronika, 2025.

Deskripsi Fisik

xii, 46 hlm. : ilus.

Bahasa

No Reg

0016/TA/25

Edisi

Tugas Akhir (Diploma)--Universitas Negeri Malang. 2025

Subjek

1. METODE FUZZY MAMDANI
2. SISTEM PENGHINDARAN PENGIRIMAN TABRAKAN
3. MAMDANI FUZZY METHOD

Pembimbing

1. Dr. Muladi, S.t., M.t.

Lampiran Berkas