Artificial Intelligence in Underwater Robot Navigation Using Sonar Sensors with Fuzzy Logic Method

Navigation systems in underwater robots refer to the process of avoiding obstacles. The navigation system has uncertainty values at the input and output. In this paper, the method of an automatic navigation system uses fuzzy logic. Fuzzy logic can control and predict from a dynamic system. Fuzzy logic is Mamdani fuzzy logic. Mamdani's fuzzy logic was embedded in the underwater robot navigation system. The embedded system is to build robotic behavior. The input in the navigation system is the distance value of the sonar sensor. The output in the navigation system is the value of the motor velocity. The results of the navigation system with the Mamdani fuzzy logic method have a good performance.