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Jurnal Metode Fuzzy
Jurnal Metode Fuzzy
Jurnal Metode Fuzzy
Abstract
As connected smart devices and terminals continue to grow along with digital content, data
traffic of mobile service providers is also growing, and the price war in mobile markets is
driving traffic growth without a commensurable increase in revenue. As a result, network
capital expenditure (CAPEX) investment, quality of experience, and customer experience
are under enormous pressure. In a competitive mobile market, strategic pricing may play an
essential role in managing this pressure only if appropriate tools are available for the service
providers. In this paper, a fuzzy knowledge-based expert pricing system was developed with
a focus on solving network traffic, price war, and business revenue challenges in a
competitive mobile market. Its core lay in its ability to recommend digital- and data
services-related price points within a competitive and price war mobile environment. The
proposed pricing system was experimentally evaluated through a pilot conducted on a few
segments of a mobile service provider’s customer base in an emerging market and later
scaled up to a broader base. Upon implementation, data services revenue increased, and
overall gross margin increased with a reduction in data traffic, resulting in better throughput
and network quality and, consequently, better customer experience with improved net
promoter score.
Keywords: Pricing adjustment, Data services, Digital services, Fuzzy expert,
Knowledge-based
1. Introduction
Received: May 26, 2020
Revised : Sep. 2, 2020
Pricing is an integral part of the marketing function and one that is critical to a firm’s
Accepted: Sep. 12, 2020 overall survival. It is an aspect of the marketing mix that a firm cannot afford to get wrong
Correspondence to: Krisztia´ n Szu˝ [1, 2]. The increase in awareness on the part of the consumers and the emergence of smart
cs (szucsk@ktk.pte.hu)
©The Korean Institute of Intelligent shoppers have made the pricing of products and services more complex and critical within
Systems
marketing functions [3–5]. Moreover, the strategy behind pricing is crucial due to different
customer behavior—hence the need to price products and services for different target
ⓍccThis is an Open Access article
segments in the market appropriately.
dis- tributed under the terms of the
Creative Commons Attribution Non- In a competitive market where a pricing decision, if wrong, can be catastrophic for a
Commercial Li- cense brand due to a lack of evidence of how the market would react to the price change, experts
(http://creativecommons.org/licenses/ by- can leverage fuzzy linguistic terms to navigate the problem [6, 7]. The ability of fuzzy logic
nc/3.0/) which permits unrestricted non- to associate the ambiguity characterizing pricing decision with the application of imprecise
commercial use, distribution, and
data motivates its usage in this study on price adjustment. For the pricing of mobile and
reproduc- tion in any medium, provided
digital-
the original work is properly cited.
227 |
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
2. Background
ness and imprecise data to make a sound judgment, such as a robust educational adviser system with several fuzzy rules. It
pricing decisions; this motivates its use in this study. was also used for the development of a generic medical system
Several applications of fuzzy expert systems have been for cardiac disease
high- lighted in literature across different domains. By
leveraging fuzzy inference theory, an agent-based price
system for online auction was proposed by Li et al. [17].
Mediator, seller, and buyer were the three agents used in the
study, and its output was a convenient and customizable
system for both buyer and seller through underlying fuzzy
rules for their pricing and negotiation strategies. In the
healthcare sector, Djam et al. [18] developed a fuzzy expert
system for malaria sickness and management. By making use
of the inputs in the form of symptoms indicated by the patient,
the system detected the presence of malaria para- sites. For the
fuzzification process, a triangular-shaped fuzzifier was used to
define a set of symptoms that were relevant to the parasites.
The authors applied a fuzzy value to each symptom, and
weighting factors were also applied to the symptom sets. From
a fuzzy set (mild, 1; moderate, 2; severe, 3; very severe, 4),
they selected values along with the membership of each by
leveraging a triangular fuzzifier. According to the system, IF
“headache = severe” and “vomiting = severe” and body
“weak- ness = severe” and “dizziness = severe” and “joint
pain = mild” and loss of appetite are severe, THEN “malaria =
severe?.
Gupta and Celtek [19] built a fuzzy expert system for au-
tomating the processing of a small business loan. The system
determined who, among the applicants, qualified for a loan.
Several variables, such as the ability to repay, credit history,
owner investment, and management ability, were considered
as inputs in the system. The membership functions in this sys-
tem overlapped triangles and trapezoids consisting of names
of functions and membership values, and the aggregation
operator calculated the degree of fulfillment. With about 109
rules, the system provided the output to either lend or not lend
loans to customers.
A web-based fuzzy expert system was developed and
imple- mented by Goodarzi and Rafe [20] as a career advisor
within the educational setting. Passed courses, course grades,
GPA, and student’s rank across different parameters were
used as input variables. Categorization of the student’s GPA
along different groups was represented in linguistic terms
such as Excellent, Weak, and Very Weak, which formed a
Gaussian (exponential) membership function after selecting
the numeric equivalent of the linguistic terms that carried the
maximum degree of membership. This fuzzy expert system is
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
diagnosis by using symptoms for heart diseases as inputs. service provider’s end. Pricing managers are challenged to
The authors [21] divided the input variables into linguistic
variables such as “low”, “medium”, “high”, and “very
high”. The system used triangular and trapezoid type
fuzzifiers, and the aggregated weighted decision value
determined the risk of cardiac disease according to the
defined fuzzy rules. In this fuzzy expert sys- tem, the
centroid method was used for the defuzzification of the
aggregate result into the crisp value. The overall output of
the system determined whether a patient was at risk for heart
disease or not.
Nolan [22] developed a fuzzy logic application for assess-
ment in the education environment. The system leveraged
samples and assigned scores to students for their write-ups
and essays. Severable variables, such as student
understanding and reading comprehension scores [23] were
used as inputs, and linguistics variables such as “insightful”
and “thoughtful” were derived from the crisp inputs; fuzzy
rules such as “IF understanding is high, and character
recognition is high, THEN reading comprehension is high”
were considered the underlying rules. In the transformation
of the fuzzy set into a usable crisp output through the
defuzzification process, the centroid method was applied.
Razak et al. [24] developed a career path
recommendation system for students with fuzzy logic and
evaluation. Moreover, faculty performance within technical
institutions was modeled by the fuzzy expert system by
Jyothi et al. [25]. The authors
[26] combined fuzzy logic pricing steps with an adaptive
search procedure to set reserve prices in an online ad
auction. The method outperformed a similar algorithm in
experiments involv- ing real ad auction data and proved to
aid better decision-making in price reservations.
When a brand enters the market with a product, one of
the most critical items that connect all the go-to-market
activities with the customer is price; therefore, setting the
right price point for a product is a vital decision for pushing
a product or service into the market [11]. Price is a visible
component of any service or product and determines
consumers’ encouragement toward a buying decision. Cost
naturally plays a significant role in setting the price point;
however, the associated value that the customer attaches to
the product or service is also a critical factor that must be
considered when pricing the item. This is the worth of the
product or service to the consumer in monetary terms, and it
is referred to as customer value [27]. The cost of a product
or service is not visible to the consumer, whereas this is a
significant factor for price point consideration from the
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
determine a price point that takes care of the cost and that customer behavior and quality of service. Customer
meets the consumers’ perception of the product or service in preferences are often analyzed through automatic conjoint
terms of value [28]. analysis while monitoring competition in real time to keep
track of competi- tors’ actions. In doing so, mobile operators
2.2 Pricing of Mobile Telecommunication Products and try to understand customers’ reactions to different pricing
Services strategies while finding the best prices that are favorable to
their gross margin and yield at the product level [32].
Traditionally, the pricing of products and services in the mo-
bile telecommunication industry is one of the most complex In the process of developing price points for products and
to model due to the complexity associated with the delivery of services, several data are gathered as input. A sales history
net- work services. However, the industry has developed that includes the list of products purchased along with
standard approaches that form the basis for the pricing of their customer usage at the individual or segment level is
products and services [29, 30]. considered. Relevant information about each product and the
In the telecommunication market, a customer compares information on past promotions and marketing campaigns are
prices using online catalogs, specialized search tools, and data inputs. More- over, reviews and feedback given by
collabora- tive platforms. In a predominantly prepaid market, customers about product mechanisms and business rules
where many mobile customers have the SIM cards of two or along market dynamics of the geographical location and other
more service providers, price comparison is more pronounced competitors are among relevant data that operators would
[31]; there- fore, mobile operators have no choice but to pay consider during their pricing process [33].
close attention to several parameters when setting prices [31]. Usually, strategic goals and constraints are defined when
Factors such as competition, market positioning, servicing considering a pricing move. Some clear objectives to pursue
costs, and cus- tomer management costs play a crucial role for may be profit maximization, reaction to competition move, or
mobile service providers in making the right price move. regulatory decision to either increase or reduce prices across
However, operators have developed algorithms that can learn the market. In the model development and training of models,
patterns from data, continuously integrate new information mo- bile operators rely on a variety of models for price
and detect emerging trends or changes in demand. In this way, optimization. Historically, they have used generalized linear
mobile operators benefit from predictive models that allow models (GLMs), especially logistic regression; however, more
them to determine the best price for each product or service, complex models have been developed in recent times [34].
i.e., the optimized price (See Figure 1). For instance, depend- ing on the volume of data available,
Prices are set for products and services through price opti- deep learning methods can also be used, mainly to price
mization and are revised regularly due to the constant change existing products for which the history of customer usage
in behavior is available.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Figure 1.Price engine framework.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
of the expert’s knowledge. The major participants in the • The knowledge base is the part that houses the fuzzy
expert system are the domain experts, responsible for making pro- duction rules. These are in the form “If A then B,”
deci- sions. These are engineers and users with vast such that A and B are fuzzy sets, which are respectively
experience and knowledge about strategies of problem- de- fined on input and output domains along with the
solving by leveraging the similarities between past solved defined membership functions of their possible values.
problems and current prob- lems. When the expert system is
being developed, knowledge engineers rely on domain • The database is the part that stores the problem’s
experts to carefully explain every step of the decision-making parame- ter along with other facts.
process.
• The inference engine is responsible for evaluating the
fuzzy rules contained in the knowledge base.
3.1.1 Components of expert systems
• The fuzzification and defuzzification modules convert a
The fuzzification process takes the input variables and crisp input into a fuzzy set and a fuzzy set into a crisp
compares them with the membership functions of the output, respectively.
antecedent part of the fuzzy rule, assigning membership
values to each linguistic label. 3.2 Expert Pricing Tools
On the other hand, defuzzification is the entire process that
combines the output of fuzzy sets generated by the inference An expert system is a tool that is created with different com-
mechanism. The overall objective of this process is to obtain ponents. In the pricing of digital services, Figure 1 described
a clear meaning of the fuzzy set, transforming it from a set of the architecture and the various elements forming the expert
aggregation into one of numerical values that can be utilized pricing tool, which resembles a shell containing all
by the user. In a fuzzy logic system, defuzzification is the last components of a typical expert system within a software
process, and it generates crisps output from a combined environment [36]. In the application development
aggre- gation of the output of a fuzzy set. It translates the environment, the shell describes the end-to-end development,
entire fuzzy output into a single crisp value along the degree configuration, and initiation of all relevant components. These
of membership values, and the system then consumes the processes align with our model for expert system price
applied crisp values. When comparing it with fuzzification, it adjustment, as shown in Figure 3. In this case, the knowledge
is an inverse transfor- mation process representing a fuzzy set base comprises factual and heuristic knowledge using the IF-
with a crisp number because, within the fuzzy system, the THEN rules. In the reasoning engine, the inference
internal representation of data is in fuzzy sets. This process is mechanism is at work; it conducts a manipulation of the
critical: the output from the fuzzy system needs to be in the information within the knowledge base to generate a line of
crisp form that can be consumed as commands performing reasoning for solving issues and problems.
specific functions [39–43]. The explanation subsystem explains all the actions in the
The following are the architectural components of the system, whereas the user interface stands as the means for
system:
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Figure 3.Expert system tools and associated components for price adjustment.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
communicating with the user. Unlike other areas of fuzzy sub- set of the output space. This overall output is
application of an expert system, the user interface is critical represented as R.
in the mobile telecommunication industry; in fact, the
implementation of final decisions can be catastrophic if not
managed well across all network elements [36, 44].
In practice, the most applied and popular method which is
acceptable across applications is expert knowledge [11]. How-
ever, when expert knowledge is not available, a fuzzy
classifier system and meta-rule methods that leverage the
artificial neural network or genetic algorithm are considered.
Rules determina- tion and various approaches are detailed in
[45].
In simple terms, the fuzzy rule contains an expression If-
Then rule such that the premise and the conclusion are both
fuzzy sets. The “If” part, which is the antecedent, and the
“Then” part, which is the consequence, are the two primary
components. Single or combined set conditions that are joined
by operators “OR” and “AND” can be composed of the
antecedent. The step following the determination of rules is to
perform the inference process along the degree of inputs
according to the fuzzy rules. To suppress the membership
functions of the rule’s consequent, two methods commonly
used are “clipping” and “scaling” [16].
IF dPrice A is PNegativeHigh,
AND dPriceB is PNegativeLow,
AND dAPrice is PZero,
THEN dASales is SNegativeMedium.
Here, dPriceA and dPriceB are fuzzy linguistic variables
representing adjustment in the prices of the data services of
competitor A and competitor B, respectively, and dAprice
and dASales are fuzzy linguistic variables representing the
adjust- ment in price and products sales of the firm A.
PNegativeHigh, PNegativeLow, PZero, and
SNegativeMedium are fuzzy sets representing a high
decrease in price point, a low decrease in price point, and
almost no change in price, and high decrease in sales,
respectively [51].
Human experts formulate the what-if scenarios, and
appropri- ate fuzzy sets are defined for the antecedents and
the descendent rule following the business managers’ expert
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
intra-portfolio side effects are easy to manage. When a typi- independent. Along the what-if scenarios that have been built,
cal network provider makes a price move in the data services the effect of price adjustment on the revenue of the individual
portfolio, the move cuts across all products within the data product is captured, and market characteristics are obtained
ser- vices portfolio, and the daily, weekly, and monthly by the rules contained in each expert system. Reactions are
bundles will be adjusted accordingly. This is because of the fed into the fuzzy expert system following any price move by
nature of the products. For some, the intra-portfolio side the competition. At this stage, several outputs are considered
effects may need to be accommodated and accounted for. This based on acceptance or rejection following their alignment
effect is the impact that adjusting the price of some offerings with the organization’s overall strategic objective. In the case
within the company portfolio has on the sales of other of the telecommunication industry, network capacity,
offerings and products within it [36]. regulatory, and other factors would be considered at this
However, due to the complexity and sensitivity of price ad- stage.
justment, human decision-making as a role will remain A final selection is made from the final table following the
essential. Experienced commercial managers still need to possible level of price adjustments with a view to align with
make the final decision among several alternatives. In this the company’s overall strategic aims, such as profit, sales,
FDPS, this point is taken into consideration as several price and other network metrics (e.g., capacity).
points are obtained with final decisions in the hands of human
experts. 4.4 Experiments, Procedures, and Result
exPrice, respectively. While the industries they considered price changes along with the data product segments (daily,
were different from the mobile telecommunication industry, weekly, and monthly.) A research was conducted to
the modeling processes were similar. In addition, the strategic understand customer preference for the price adjustment
aim of price adjustment altered the approach and could not direction. Con- sidering the situation of the firm A at that time,
enable a side by side comparison. Moreover, the market three were the clear approaches to adopt to increase the price
portfolio was segmented by the validity of data offers into of data services, all of which had to address the strategic
daily, weekly, and monthly bundles under each product constraints of revenue increase and protection, network
segment, and every competition had a list of offerings (Table congestion management, and customer experience:
1).
That of price increase is a highly sensitive exercise— 1)Reduction of volume in MB and reverting to the old price.
especially in a fiercely competitive market that is
2)Retaining the data volume but increasing the price per
predominantly prepaid, where the cost of switching is meager.
No assumption was made regarding the sales of the MB.
competition, and strategic con- straints were the objectives of
3) Retaining the data price and volume but off-loading
price adjustment, as mentioned in the above section.
portion of the data volume to the off-peak period when the
Three fuzzy expert systems were developed and designed
network is relatively underutilized.
with 70 rules each and with price changes in the competition
products as their inputs; the outputs were represented by the These three scenarios were loaded into the three fuzzy
changes in product uptake and revenue of firm A. A fourth expert systems that highlighted revenue projection for each
expert system was designed. Since price adjustment would product, along with the fourth system, which compensated for
shift the uptake of daily, weekly, and monthly takers, a fourth the canni- balization of the products within the three other
fuzzy expert system was used to compensate for this intra- segments—the intra-portfolio effects. The system was
portfolio effects of price adjustment for different models. The insensitive to the abso- lute figure as a result of inputs and
fourth fuzzy expert system contained 92 rules from the outputs that were percentages of change, and a single array
subject experts’ experience and reasoning. was mapped out with the input- output pairs of the results.
Several scenarios were created following the competition Strategic constraints were considered, and restrictions were
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
also applied, excluding the combination. The linear
programming procedure was used for the evaluation
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
of the final combinations, and those with maximum fitness price adjustment approach and price points at the product
were selected following the desired criterion. level are presented to decision-makers for existing data
customers.
4.4.2 Results With a well-thought-through approach using the proposed
In managing constraints and management objectives, the cus- FDPS, different price points and strategies are then suggested
tomer base is segmented into existing data bundle customers: for all products and services. The business managers’ selec-
those currently buying data services, or existing customers tion achieved the desired business objectives of firm A; data
(EC); those with a prospective data bundle, or new customers services revenue increased instantly by 5% month on month
(NC), who are not buying data services or are newly acquired with a 1.3% increase in gross margin. The network witnessed
customers. From these two broad segments, we have others a 14% reduction in data traffic, resulting in better throughput
such as price-sensitive customers (PS) and non-price-sensitive and network quality and, consequently, in a better customer
customers (NPS). Price and non-price-sensitive customers are experience, which impacted the net promoter score of the firm
known for their past responses to promotional campaigns on in the following quarter.
the network. The off-loading of the recent incremental data Other marketing mix, such as channels of engagement, was
flux on all certain data products to off-peak is one of the managed well during the implementation period. Existing
outputs of the simulation, positioned to reduce over- codes for purchases were maintained for existing customers,
utilization during the off-peak period and potentially increase and new codes with different price points were created for
data revenue. How- ever, this is managed well to ensure that new cus- tomers. No above the line (ATL) campaigns were
customer experience is not affected. All these segments are conducted on TV, radio, or social media for the data price
fed into different models. Business managers select the price adjustment as to manage customer perception of its
adjustment approach that fits different segments and expensiveness. All communi- cation was conducted below the
implement it, along with the various marketing mix strategies, line in a one-to-one marketing approach, and all online, retail,
as shown in Figure 5. and billboards were updated accordingly with commercially
For the customers that are new to data services or for non- available revamped data plans. The firm used an aggressive
data customers (NC), appropriate price adjustment and price below-the-line marketing campaign to drive uptake and
points for each product segment are suggested. In addition, performance.
Figure 5. The architectural representation of product portfolio: current and FDPS output. PAYG, Pay as You Go pricing (non-bundle
pricing).
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
a) Potential revenue increase, b) existing price plans, c) new billing opportunity, d) innovation, e) proposed strategy.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
5. Conclusion The authors wish to thank the University of Pecs under the
Higher Education Institution Excellence Program of the Min-
This study developed a knowledge-based pricing system istry of Innovation and Technology in Hungary within the
through fuzzy logic for the pricing of mobile frame-
telecommunication data- related products and service. Our work of the 4th Thematic Program, “Enhancing the Role of
FDPS was developed and implemented for making pricing Domestic Companies in the Re-industrialization of Hungary”.
decisions on a large cellu- lar network with clear objectives
and constraints. The expert pricing system addresses cost References
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https://doi.org/10.1109/FUZZ-IEEE.2019.8858975
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Abstrak
Karena perangkat pintar dan terminal yang terhubung terus tumbuh seiring dengan
konten digital, lalu lintas data penyedia layanan seluler juga tumbuh, dan perang harga di
pasar seluler mendorong pertumbuhan lalu lintas tanpa peningkatan pendapatan yang
sepadan. Akibatnya, investasi belanja modal jaringan (CAPEX), kualitas pengalaman, dan
pengalaman pelanggan berada di bawah tekanan yang sangat besar. Dalam pasar seluler
yang kompetitif, harga strategis mungkin memainkan peran penting dalam mengelola
tekanan ini hanya jika alat yang sesuai tersedia untuk penyedia layanan. Dalam makalah
ini, sistem harga ahli berbasis pengetahuan fuzzy dikembangkan dengan fokus pada
penyelesaian lalu lintas jaringan, perang harga, dan tantangan pendapatan bisnis dalam
pasar seluler yang kompetitif. Intinya terletak pada kemampuannya untuk
merekomendasikan titik harga terkait layanan digital dan data dalam lingkungan seluler
yang kompetitif dan perang harga. Sistem penetapan harga yang diusulkan secara
eksperimental dievaluasi melalui uji coba yang dilakukan pada beberapa segmen basis
pelanggan penyedia layanan seluler di pasar berkembang dan kemudian ditingkatkan ke
basis yang lebih luas. Setelah penerapan, pendapatan layanan data meningkat, dan
keseluruhan margin kotor meningkat dengan penurunan lalu lintas data, menghasilkan
kualitas jaringan dan hasil yang lebih baik, dan akibatnya, pengalaman pelanggan yang
lebih baik dengan peningkatan skor promotor bersih.
Kata kunci: Penyesuaian harga, Layanan data, Layanan digital, Pakar
fuzzy, Berbasis pengetahuan
1. pengantar
Diterima: 26 Mei 2020 Penetapan harga merupakan bagian integral dari fungsi
Direvisi: 2 September 2020
Diterima: 12 Sep 2020 pemasaran dan yang sangat penting untuk kelangsungan
Korespondensike: Krisztia´n Szu˝ cs ( szucsk@ktk.pte.hu ) hidup perusahaan secara keseluruhan. Ini adalah aspek
© Institut Sistem Cerdas Korea
bauran pemasaran yang tidak dapat dilakukan oleh
ⓍccThis adalah artikel Akses Terbuka yang disebarluaskan di bawah
perusahaan untuk melakukan kesalahan [1, 2]. Peningkatan
persyaratan Creative Commons Attribution Non-Commercial Li- cense kesadaran di pihak konsumen dan munculnya pembeli
(http://creativecommons.org/licenses/ oleh-nc / 3.0 /) yang mengizinkan cerdas telah membuat penetapan harga produk dan layanan
penggunaan, distribusi, dan reproduksi non-komersial yang tidak dibatasi
menjadi lebih kompleks dan kritis dalam fungsi pemasaran
dalam media apa pun, asalkan karya aslinya dikutip dengan benar.
[3–5]. Selain itu, strategi di balik penetapan harga sangat
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
penting karena perilaku pelanggan yang berbeda —
karenanya kebutuhan untuk memberi harga produk dan
layanan untuk segmen sasaran yang berbeda di pasar secara
tepat.
Dalam pasar yang kompetitif di mana keputusan
penetapan harga, jika salah, dapat menjadi bencana besar
bagi suatu merek karena kurangnya bukti tentang
bagaimana pasar akan bereaksi terhadap perubahan harga,
para ahli dapat memanfaatkan istilah linguistik fuzzy untuk
menavigasi masalah [6, 7] . Kemampuan logika fuzzy untuk
mengaitkan ambiguitas yang mencirikan keputusan
penetapan harga dengan penerapan data yang tidak tepat
memotivasi penggunaannya dalam penelitian ini tentang
penyesuaian harga. Untuk harga-seluler-dan-digital
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Secara tradisional, harga produk dan layanan di industri geografis dan pesaing lainnya adalah di antara data yang
telekomunikasi seluler adalah salah satu model yang paling relevan yang akan dipertimbangkan oleh operator selama
kompleks karena kompleksitas yang terkait dengan proses penetapan harga mereka [33].
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Biasanya, tujuan dan batasan strategis ditentukan saat telah menggunakan model linier umum (GLMs), terutama
mempertimbangkan pergerakan harga. Beberapa tujuan yang regresi logistik; Namun, model yang lebih kompleks telah
jelas untuk dikejar mungkin berupa pemaksimalan dikembangkan belakangan ini [34]. Misalnya, bergantung
keuntungan, reaksi terhadap pergerakan persaingan, atau pada volume data yang tersedia, metode pembelajaran
keputusan peraturan untuk menaikkan atau menurunkan mendalam juga dapat digunakan, terutama untuk memberi
harga di seluruh pasar. Dalam pengembangan model dan harga pada produk yang ada yang riwayat perilaku
pelatihan model, operator mobil mengandalkan berbagai penggunaan pelanggannya tersedia.
model untuk pengoptimalan harga. Secara historis, mereka
biaya yang terkait dengan sisi inti jaringan, dan biaya akuisisi mengkompensasi penurunan pendapatan suara dari industri
adalah item baris biaya. Jika penyedia jaringan seluler merasa seluler, perusahaan dalam industri harus mulai
kesulitan untuk menentukan biaya layanan data mereka, mempertimbangkan semua masalah harga terkait sebagai
bagaimana mereka dapat menentukan harga secara akurat ” pengoptimalan portofolio. Dengan demikian, semua produk
operator seluler dihargai sebagai bagian dari keseluruhan
Tidak seperti industri lain, layanan harga dan produk dalam
portofolio, sehingga keuntungan dapat dimaksimalkan
industri telekomunikasi seluler ditentukan terutama oleh
seiring dengan pencapaian tujuan strategis [35].
persaingan dan regulasi. Pertama, badan pengatur
menetapkan ambang harga minimum bersama dengan data,
suara, dan tarif interkoneksi di banyak pasar, yang 3. Sistem Harga Pakar Fuzzy
menetapkan tingkat harga minimum atau terkadang
maksimum untuk produk dan layanan. Persaingan, di sisi lain, 3.1 Sistem Pakar
menentukan seberapa jauh setiap operator dapat melampaui
Sistem pakar menemukan asalnya di cabang
tolok ukur peraturan. Pendekatan regulasi ini telah
komputasi yang sekarang disebut sebagai kecerdasan
menyelamatkan banyak pasar dari mengikis seluruh nilai
buatan [36]. Sistem pakar adalah bagian dari ilmu komputer
mereka sebagai akibat dari perang harga. Dengan dua faktor
yang memanfaatkan metode simbolik dan non-algoritmik
penting ini, setiap analisis yang dapat diterima untuk
untuk menyelesaikan tugas-tugas yang tampaknya terlalu
penetapan harga dalam ruang ini perlu mempertimbangkan
sulit dilakukan oleh manusia. Mereka adalah program
permintaan, penawaran, dan tujuan strategis perusahaan
komputer yang menggunakan pengetahuan dan simulasi
secara keseluruhan untuk penetapan harga atau penyesuaian
pemecahan masalah pada tingkat yang sebanding dengan
harga.
ahli manusia [19, 37]. Komponen utama sistem pakar adalah
Sasaran strategis penetapan harga utama justru didorong basis pengetahuan, mesin inferensi, fuzzifier, defuzzifier,
oleh apa yang ingin dicapai perusahaan. Ini bisa berupa jenis dan antarmuka pengguna [14, 38], seperti yang ditunjukkan
merek yang coba dibangun perusahaan, segmen pasar yang pada Gambar 2. Mesin inferensi bertanggung jawab untuk
ditargetkan oleh penawaran, atau ukuran pangsa pasar mengambil keputusan berdasarkan pemahaman dan
perusahaan, interpretasinya
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
dari pengetahuan ahli. Partisipan utama dalam sistem • Basis pengetahuan adalah bagian yang menampung
pakar adalah pakar domain, yang bertanggung jawab untuk aturan produksi fuzzy. Ini adalah dalam bentuk “Jika A
membuat keputusan. Mereka adalah insinyur dan pengguna lalu B,” sehingga A dan B adalah himpunan fuzzy, yang
dengan pengalaman dan pengetahuan yang luas tentang masing-masing ditentukan pada domain input dan
strategi pemecahan masalah dengan memanfaatkan output bersama dengan fungsi keanggotaan yang
kesamaan antara masalah yang dipecahkan di masa lalu dan ditentukan dari nilai yang memungkinkan.
masalah saat ini. Ketika sistem pakar sedang dikembangkan,
• Basis data adalah bagian yang menyimpan parameter
insinyur pengetahuan mengandalkan pakar domain untuk
masalah bersama dengan fakta lainnya.
menjelaskan setiap langkah proses pengambilan keputusan
dengan cermat. • Mesin inferensi bertanggung jawab untuk
mengevaluasi aturan fuzzy yang terdapat dalam basis
3.1.1 Komponen sistem pakar pengetahuan.
Gambar 3.Alat sistem pakar dan komponen terkait untuk penyesuaian harga.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
berkomunikasi dengan pengguna. Tidak seperti area subset fuzzy dari ruang output. Keluaran aturan
penerapan sistem pakar lainnya, antarmuka pengguna sangat individu ini dilambangkan sebagai Rj.
penting dalam industri telekomunikasi seluler; pada
• Pengumpulan atau agregasi dari masing-masing aturan
kenyataannya, implementasi keputusan akhir bisa menjadi
untuk mendapatkan keluaran sistem fuzzy secara
bencana jika tidak dikelola dengan baik di semua elemen
keseluruhan sebagai bagian dari ruang keluaran fuzzy.
jaringan [36, 44].
Output keseluruhan ini direpresentasikan sebagai R.
Dalam praktiknya, metode yang paling banyak diterapkan
dan populer yang dapat diterima di seluruh aplikasi adalah • Beberapa tindakan dipilih berdasarkan set keluaran.
pengetahuan ahli [11]. Namun, ketika pengetahuan ahli tidak
tersedia, sistem pengklasifikasi fuzzy dan metode meta-rule
yang memanfaatkan jaringan saraf tiruan atau algoritma
genetika dipertimbangkan. Penentuan aturan dan berbagai
pendekatan dirinci dalam [45].
Secara sederhana, aturan fuzzy berisi ekspresi If-Then rule
sedemikian rupa sehingga premis dan kesimpulan keduanya
merupakan himpunan fuzzy. Bagian "Jika", yang merupakan
anteseden, dan bagian "Kemudian", yang merupakan
konsekuensinya, adalah dua komponen utama. Kondisi set
tunggal atau gabungan yang digabungkan oleh operator "OR"
dan "AND" dapat terdiri dari anteseden. Langkah berikut
penentuan aturan adalah melakukan proses inferensi
sepanjang derajat masukan sesuai aturan fuzzy. Untuk
menekan fungsi keanggotaan konsekuensi aturan, dua
metode yang umum digunakan adalah "clipping" dan "scaling"
[16].
4.4.1 Sistem dan struktur 1) Pengurangan volume dalam MB dan kembali ke harga
untuk memastikan bahwa pengalaman pelanggan tidak dikelola dengan baik selama periode implementasi. Kode
terpengaruh. Semua segmen ini dimasukkan ke dalam model yang ada untuk pembelian dipertahankan untuk pelanggan
yang berbeda. Manajer bisnis memilih pendekatan yang sudah ada, dan kode baru dengan titik harga berbeda
penyesuaian harga yang sesuai dengan segmen yang berbeda dibuat untuk pelanggan baru. Tidak ada kampanye above
dan menerapkannya, bersama dengan berbagai strategi the line (ATL) yang dilakukan di TV, radio, atau media sosial
bauran pemasaran, seperti yang ditunjukkan pada Gambar 5. untuk penyesuaian harga data guna mengelola persepsi
Untuk pelanggan yang baru mengenal layanan data atau pelanggan tentang kemahalannya. Semua komunikasi
untuk pelanggan non-data (NC), penyesuaian harga dan poin dilakukan di bawah garis dalam pendekatan pemasaran
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
satu-ke-satu, dan semua online, ritel, dan papan reklame
diperbarui sesuai dengan rencana data yang diperbarui dan
tersedia
Gambar 5.Representasi arsitektural dari portofolio produk: keluaran saat ini dan FDPS. PAYG, harga Pay as You Go (harga
non-paket).
a) Potensi peningkatan pendapatan, b) rencana harga yang ada, c) peluang penagihan baru, d) inovasi, e) strategi yang
diusulkan.
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
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“Exploring the walled garden theory: an
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Abstract
This study aims to present an idea about the practical consequences of using
mobile robots with Mecanum wheels. For mobile robots, an approach is
proposed to avoid obstacles without location and map information. This approach
is presented using a series of developed solutions. This article shares the
process on how a set of discussed conceptual methodologies can be applied as
well as their practical results. This method is provided using fuzzy logic and gap
tracking. LIDAR is used to recognize obstacles around the mobile robot. By using
the LIDAR, the robot detects gaps around it and moves according to fuzzy logic.
The fuzzy logic consists of three inputs, an output, and 45 rules. The first of the
membership functions represents the membership function that replaces the
obstacle. The second membership function calculates the distance to the
obstacle. The final login membership function is used to determine the angle
between the obstacle and robot view. The output membership function
represents the membership function that moves the robot. The results are
analyzed under three different scenarios with five different experiments for each
scenario. The results show that the mobile robot can avoid obstacles without
location and map information. We believe that the proposed method can be used
in mobile robots such as guard and service robots.
Keywords: Fuzzy logic, Mobile robot, Follow-the-gap method, Mecanum
wheel
Correspondence to: Raif Bayir (rbayir@karabuk.edu.tr)
Received: May 7, ©The Korean Institute of Intelligent Systems
2020
Revised : Jun. 8,
2020 ccThis is an Open Access article dis-tributed under the terms of the Creative
Accepted: Sep. 14, Commons Attribution Non-Commercial Li-
2020
cense(http://creativecommons.org/licenses/ by-nc/3.0/) which permits unrestricted
non-commercial use, distribution, and rtion in any medium,
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
they must learn the environment and carry out their movement according to the
obstacles. Their mobility varies depending on the wheel structure. In the 1970s,
Bengt Ilon developed the Mecanum wheel. Mecanum wheels greatly increase the
1. Introduction
mobility of mobile robots [3]. On the other hand, the circumference-detection
Mobile robots move method and increase in mobility make robot control difficult. Because of the variable
within predefined areas, dynamics of the environment and the mobile structure of the robot, intelligent
instead of along specially control methods are needed. The control method determines how the robot will
defined areas. They are perform a motion plan by interpreting the data from the sensors
capable of autonomous [4]. Detecting the environment/obstacles and determining the direction of
movement without a human movement relative to these obstacles are the main problems in mobile-robot
operator [1, 2]. When they control. Many studies have been
move within a working area,
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
http://doi.org/10.5391/
IJFIS.2020.20.3.188
Table 1. Mecanum wheel parameters
W αi βi γi
hells
−1 −1
1 tan ¿) −tan ¿ (π /2+ π /4 )
)
−1 −1
2 π−tan ¿ tan ¿ −(π /2+ π /4)
) )
−1 −1
3 π + tan ¿ −tan ¿ (π /2+ π /4 )
)
−1 −1
4 2 π −tan ¿ tan ¿ −(π /2+ π /4)
) )
[]
[]
φ̇1
the axis of the contacting wheels is r’ cos . The instantaneous
ẋ I +¿ φ̇2 ¿
displacement rate of the robot under the fRg conditions in the φ̇3
T
local frame is [xR yR] . The rotational speed around the ZR
ẏ =−( √ 2/2 ) r j
I
[ ] ( )[ ][
tional movements. Some movements of the Mecanum-
√2 ∕ 2 √ 2 ∕ 2
][ ]
φ̇ 1 lsin (π /4−α ) wheeled mobile robot are shown in Figure 2. In this study, A,
cos θ sin θ 0 ẋ I
φ̇ 2
=−
√ 2 √ 2 ∕ 2 −√ 2 ∕ 2 lsin (π /4−α ) B, C, E, and their inverse motion types are used, as shown in
× −sin θ cos θ 0 ẏ I
φ̇3 r − √ 2 ∕ 2 −√ 2 ∕ 2 lsin (π /4−α ) Figure 02. By using these movement types, static and dynamic
0 1 θ̇
φ̇4 − √2 ∕ 2 √ 2 ∕ 2 lsin (π /4−α ) obstacles are avoided.
(1)
1
In this equation, = tan (b=a) is considered. The hori-zontal 1.2 Design of a Mecanum-Wheeled Mobile Robot
distance of the robot from the center point to the center of the
wheel is a, and the vertical distance is b. The Jacobian matrix The mobile-robot platform consists of four direct current (DC)
is defined by Eq. (2). motors, LIDAR, motor drives, minicomputer, battery,
[ ][
√2 ∕ 2 √2 ∕ 2 lsin(π /4−α ) Mecanum wheels, and body. The general representation of
]
cos θ the
sinθ
system0 is shown in Figure 3. The top LIDAR and touch
J=
√ 2 ∕ 2 − √2 ∕ 2 lsin(π /4−α )
. −sin θ screen
cos θ are0 positioned at the top of the robot.
−√ 2 ∕ 2 − √ 2 ∕ 2 lsin(π /4−α ) 0 0 production-development
The 1 process of the robot from the
−√ 2 ∕ 2 √ 2 ∕ 2 lsin(π /4−α ) design stage is shown in Figure 4.
(2) The DC motors are driven by RoboClaw 2 15 A motor
drives. Each drive is also connected to a minicomputer. The
According to the aforementioned equations, the
advanced kine- In-tel NUC5i7RYB minicomputer is used as the system
controller. The minicomputer sends the necessary control
signals to the motor drives. The LIDAR sensor is connected to
the
minicom-puter. The minicomputer interprets the data from
LIDAR and generates the necessary control signals. The
employed driver, computer, motor, and sensors are shown in
Figure 5.
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190
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
(a) (b)
(c) (d)
(a) (b)
(e)
Obstacles are detected using the data received from the sum of x1 and x2 is greater than the width of the robot, the
robot can pass.
LIDAR. The distance data are filtered by considering zero for
obstacles
Figure 6. Situations between obstacles and the robot: (a) if robot middle of obstacle, (b) if robot right of obstacle, and (c)
if robot left of obstacles.
Eq. (4) is used to calculate the gap width. Figure 6(b) shows 3. Design of a Fuzzy Logic Classifier
the robot at the right side of the obstacles. In this case, the
The robot starts to move by calculating the center angle
gap width to be calculated is given by Eq. (5). Figure 6(c)
shows that the robot is located at the left side of the obstacles. of the gap. It must also avoid obstacles when moving toward
In this case, Eq. (6) is used to calculate the gap width. the center of the gap. In this case, a fuzzy logic classifier is
used to avoid obstacles and move the robot to the center of
x1 = d1= the gap. The fuzzy logic classifier is designed with three inputs
sin(a1);
x2 = d2= and one output. The center angle of the gap, the closest
sin(a2); obstacle angle, and the closest obstacle distance are given as
Gap width = x1 + x2; (4) input. The robot-movement type is determined by the output.
x1 = d1= Input values indicate where the robot is located in the gap, at
sin(a1);
x2 = d2= which side of the obstacle, and how close it is to the center of
sin(a2); the gap. Figure 7 shows the fuzzy logic classifier membership
Gap width =
x1 x2; (5) functions.
x1 = d1= The position of the gap center relative to the robot is ex-
sin(a1);
x2 = d2= pressed by linguistic variables, namely, left, middle, and right.
sin(a2); The viewing angle of the robot is 70 from the center to the right
Gap width =
x2 x1: (6) and 80 to the left. The scanning angle of the robot is
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
Le To Strai
Middle ft o far ght
Mi Left
the same as these angles. The angle of the nearest obstacle Middle ddle Very close side
Mi Cl Left
is expressed by linguistic variables, i.e., left, middle, and right. Middle ddle ose cross
The third entry is the distance from the nearest obstacle to the Mi Mi Left
Middle ddle ddle cross
robot. The distance of the nearest obstacle is evaluated under
five groups. The distance is expressed by linguistic variables:
very close, close, medium, far, too far. Because LIDAR has a
visibility of 20 m, a function between 0-20; 000 mm is created.
Except for the forward, backward, and stop functions, the
robot can perform six different movements because of the
Mecanum wheels. These movements are positioned to the
negative and positive points as left and right. A rule base is
developed in which the outputs are assigned according to the
incoming data. The rule base consists of 45 rules (Table 2).
In the rule base, all possible inputs are evaluated, and
output values related to an expert opinion are formed. In
addition, if the width of the gap is smaller than the robot width
and no space is available to go further, the robot stops. The
fuzzy logic classifier
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on Laser Range Sensor j 194
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
4.2 Mecanum-Wheeled Mobile-Robot Static-Obstacle- Mecanum wheels was that the robot could perform
Avoidance Test cross and side movements to avoid cross obstacles.
Car-ton boxes with the same dimensions were used as static the Mecanum-Wheeled Mobile Robot
obsta-cles. The dimensions of the carton boxes were 40 40 60 In this experiment, the ability of the mobile robot to avoid static
cm3. The static obstacles were positioned at different points to and moving obstacles was investigated. In the experiment, the
study the robot mobility. The obstacles were positioned as robot consistently started from the same point to investigate its
shown in Figure 14 (blue line) to test the robot ability to pass response. Carton boxes from the static-barrier avoidance test
between two obstacles and avoid cross obstacles. The robot were used as static obstacles. A training robot called mBot
tried to pass the center of the gaps between the obstacles was used as a moving obstacle. The robot was covered with a
according to its algorithm. The expected movement of the cloth, as shown in Figure 15, to create an obstacle.
robot is shown in Figure 14.
The moving obstacle moved to the right and left following
The experiments were repeated five times. The battery was the line shown in Figure 16. Figure 16 also shows the
fully charged. In all of the five repetitions, the robot was ob- positions of the mobile and static obstacles in the static- and
served to avoid obstacles. The robot movements in all experi-
mobile-obstacle-avoidance test environment.
ments are shown in Figure 14.
The experiment was repeated five times, and it started with
Figure 14 shows that in the experimental study, the robot
a full charge in the battery. The robot did not hit any static
avoided obstacles in all five repetitions. The advantage of the
obstacles in the five experiments. In addition, it was able to
www.ijfis.org Development of a Mecanum-Wheeled Mobile Robot for Dynamic- and Static-Obstacle Avoidance Based
on Laser Range Sensor j 196
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International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
battery-charge level drops below a certain value. robot: a review,” in Proceedings of the 2012 Mechani-cal
Engineering Conference on Sustainable Research and
Conflict of Interest Innovation, Juja, Kenya, 2012, pp. 314-318.
No potential conflict of interest relevant to this article [8] J. Ng and T. Braunl, “Performance comparison of bug
was reported. navigation algorithms,” Journal of Intelligent and Robotic
Systems, vol. 50, pp. 73-84, 2007.
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no. 2, pp. 157-162, 2018.
[12] S. L. Dickerson and B. D. Lapin, “Control of an omni-
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Artikel asli
Jurnal Internasional Logika Fuzzy dan Sistem Cerdas Vol. 20, No. 3, September 2020, hlm. 188-
200 http://doi.org/10.5391/IJFIS.2020.20.3.188
ISSN (Online) 2093-744
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
ISSN (Cetak) 1598-2645
Abstrak
Penelitian ini bertujuan untuk menyajikan gambaran tentang konsekuensi praktis penggunaan
robot bergerak dengan roda Mecanum. Untuk robot seluler, pendekatan diusulkan untuk
menghindari rintangan tanpa lokasi dan informasi peta. Pendekatan ini disajikan menggunakan
serangkaian solusi yang dikembangkan. Artikel ini membagikan proses tentang bagaimana
seperangkat metodologi konseptual yang dibahas dapat diterapkan serta hasil praktisnya. Metode
ini disediakan dengan menggunakan logika fuzzy dan pelacakan celah. LIDAR digunakan untuk
mengenali rintangan di sekitar robot seluler. Dengan menggunakan LIDAR, robot mendeteksi
celah di sekitarnya dan bergerak sesuai logika fuzzy. Logika fuzzy terdiri dari tiga masukan, satu
keluaran, dan 45 aturan. Fungsi keanggotaan yang pertama merupakan fungsi keanggotaan yang
menggantikan rintangan. Fungsi keanggotaan kedua menghitung jarak ke rintangan. Fungsi
keanggotaan login terakhir digunakan untuk menentukan sudut antara pandangan obstacle dan
robot. Fungsi keanggotaan keluaran merepresentasikan fungsi keanggotaan yang menggerakkan
robot. Hasilnya dianalisis dalam tiga skenario berbeda dengan lima eksperimen berbeda untuk
setiap skenario. Hasil penelitian menunjukkan bahwa mobile robot dapat menghindari rintangan
tanpa informasi lokasi dan peta. Kami percaya bahwa metode yang diusulkan dapat digunakan
dalam robot bergerak seperti robot penjaga dan robot servis. Hasilnya dianalisis dalam tiga
skenario berbeda dengan lima eksperimen berbeda untuk setiap skenario. Hasil penelitian
menunjukkan bahwa mobile robot dapat menghindari rintangan tanpa informasi lokasi dan peta.
Kami percaya bahwa metode yang diusulkan dapat digunakan dalam robot bergerak seperti robot
penjaga dan robot servis. Hasilnya dianalisis dalam tiga skenario berbeda dengan lima
eksperimen berbeda untuk setiap skenario. Hasil penelitian menunjukkan bahwa mobile robot
dapat menghindari rintangan tanpa informasi lokasi dan peta. Kami percaya bahwa metode yang
diusulkan dapat digunakan dalam robot bergerak seperti robot penjaga dan robot servis.
2. pengantar
Jurnal Internasional Logika Fuzzy dan Sistem Cerdas, vol. 20, tidak. 3, September 2020
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
saat ini, perilaku gerak robot terutama dikendalikan [15].
Mobilitas terbatas pada platform robot bergerak beroda empat
tanpa roda Mecanum. Robot seluler tipe diferensial harus
melakukan gerakan belok sambil menghindari rintangan.
Dibandingkan dengan robot seluler dengan roda Mecanum,
robot seluler tipe diferensial kehilangan lebih banyak waktu
saat menghindari rintangan. Dalam penelitian kami, robot
memindai lingkungannya menggunakan sensor LIDAR. Dalam
sistem yang beroperasi menggunakan kamera stereo yang
ditempatkan dalam satu arah, area kiri dan kanan robot tidak
dapat dikendalikan. Sensor ditempatkan di area ini, dan sisi-
sisi ini dikontrol. Dalam penelitian kami, lingkungan robot
dikontrol menggunakan sensor LIDAR [16].
Kontribusi studi ini terhadap literatur adalah penggunaan logika
fuzzy dan metode follow-gap bersama-sama dalam kontrol gerak
Gambar 1. Parameter roda Mecanum. robot bergerak. Dalam konteks ini ditawarkan suatu alternatif
pengoperasian sistem berbasis navigasi dengan memberikan
disajikan dalam literatur di bidang ini, dan banyak kemampuan untuk menghindari rintangan di dalam ruangan tanpa
metode telah diusulkan. Selain metode berbasis gambar memerlukan informasi seperti lokasi rintangan, informasi peta,
untuk deteksi rintangan, sensor jarak berbasis laser dan
dan lokasi robot. Platform robot seluler dengan roda Mecanum
sensor sonar digunakan. Metode deteksi hambatan utama
disebutkan sebagai berikut: metode medan potensial buatan memberikan keunggulan omnidirectional dalam menghindari
[4, 5], histogram bidang vektor [6, 7], algoritma bug [8], rintangan. Sistem yang diusulkan dapat digunakan pada robot
metode follow-the-gap [9], logika fuzzy [10 ], dan jaringan bergerak yang beroperasi di area sempit. Kami percaya mereka
saraf [11]. akan menguntungkan dalam proses transportasi gudang dan
industri karena gerakan linier omnidi-rektional mereka.
Roda mecanum adalah roda tradisional dengan
Kemampuan robot untuk bergerak tanpa mengganggu sudut
serangkaian roda yang diikat mengelilinginya. Masing-masing
roller ini memiliki sumbu rotasi 45 dengan bidang roda dan 45 acuan tidak mengubah sudut pandang peralatan. Jadi, itu juga
dengan garis yang melewati bagian tengah silinder sejajar dapat digunakan sebagai penjaga dalam ruangan atau robot
dengan sumbu rotasi roda. Pengetahuan tentang struktur roda servis. Pendekatan yang diusulkan mungkin lebih disukai karena
Mecanum, mobilitas, dan persamaan matematika penting
lebih murah daripada sistem berbasis navigasi.
untuk mengembangkan platform mobile-robot dengan roda
Mecanum [12, 13]. Penelitian ini disusun dengan menjelaskan model
kinematik mobile robot dengan roda Mecanum serta
Roda Mecanum terdiri dari roda Swedia dan roda standar membahas desain dan produksi setelah dilakukan tinjauan
tetap dengan rol pasif yang dipasang di sekeliling roda pustaka. Selanjutnya, metode untuk mendeteksi rintangan
(Gambar 1). Roda mecanum adalah salah satu jenis roda
dan lebar celah dijelaskan. Disain pengklasifikasi fuzzy-
swedia dengan = 45, dimana merupakan sudut antara bidang
roda dan sumbu rotasi dari roda pasif [14]. logic dan hubungannya dengan lebar celah disediakan.
Dalam penelitian ini, dikembangkan platform mobile-robot Studi eksperimental dijelaskan, dan makalah dilengkapi
dengan empat roda Meca-num. Sensor pendeteksi jarak dengan kesimpulan dan evaluasi. Desain dan produksi
berbasis laser dipasang pada robot bergerak. Untuk robot bergerak beroda Mecanum.
mencegah pergerakan serta menghindari hambatan seluler
1.1Kinematika Robot dengan Empat Roda Mecanum
dalam lingkungan tertutup, metode follow-the-gap dan fuzzy-
Roda Mecanum dipasang pada robot bergerak dengan
logic digunakan secara bersamaan. Eksperimen menunjukkan
bahwa hasil yang sukses dapat diperoleh dengan bingkai coor-dinate lokal fRg: XRYRZR ditunjukkan pada
menggunakan metode ini. Pengontrol fuzzy telah menjadi Gambar 1. Titik A adalah pusat roda, dan parameter geometris
sangat populer dalam aplikasi robot seluler karena lainnya didefinisikan sebagai berikut: adalah sudut vektor GA
penggunaan variabel linguistik. Mereka digunakan untuk
relatif terhadap XRdari titik awal G ke titik A, dan merupakan
memproses dan mengklasifikasikan data kompleks. Kontrol
sudut antara sudut roda utama dan vektor GA. Jarak dari
gerak robot seluler adalah sistem yang kompleks. Logika
fuzzy cocok untuk pergerakan robot bergerak. Dalam studi pusat geometris G ke pusat roda A adalah l, dan jari-jari roda
utama adalah
−1 −1
2 π−tan ¿ tan ¿ −(π /2+ π /4)
) )
Tabel 1. −1 −1
Parameter roda
3 π + tan ¿ −tan ¿ (π /2+ π /4 )
mecanum )
−1 −1
W αi βi γi
4 2 π −tan ¿ tan ¿ −(π /2+ π /4)
hells ) )
−1 −1
1 tan ¿) −tan ¿ (π /2+ π /4 )
)
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
[]
[]
φ̇1
tangensial adalah r ', seperti yang ditunjukkan pada Gambar
ẋ I +¿ φ̇2 ¿
1. Jadi, komponen kecepatan pusat roda A sepanjang sumbu φ̇3
roda yang bersentuhan adalah r' cos. Laju perpindahan ẏ I =−( √ 2/2 ) r j
sesaat robot di bawah kondisi fRg dalam bingkai lokal adalah θ̇
T
[xR yR] . Kecepatan rotasi di sekitar ZR
kemampuan pergerakan robot bergerak beroda mecanum.
sumbu adalah. Kecepatan titik A, yang merupakan
pusat roda, dapat dihitung dengan menjumlahkan vektor Sifat kinematik dan dinamis dari robot bergerak beroda mecanum
kecepatan perpindahan xR menunjukkan bahwa mereka dapat mencapai gerakan
yR dan kecepatan relatif l _ karena omnidirectional. Beberapa gerakan dari mobile robot beroda
kecepatan rotasi, seperti yang ditunjukkan pada mecanum ditunjukkan pada Gambar 2. Pada penelitian ini
Gambar 1 [14].
digunakan jenis gerak A, B, C, E, dan inversnya, seperti yang
Kami berasumsi bahwa keempat roda Mecanum ditunjukkan pada Gambar 2. Dengan menggunakan jenis gerak
dipasang pada jarak yang sama. Jadi, Tabel 1 diperhitungkan, tersebut, statis dan dinamis rintangan dihindari.
dan persamaan gerak dinyatakan sebagai Persamaan.
(1). 1.2 Desain Robot Seluler Beroda Mecanum
[ ] ( )[ ][
Platform mobile-robot terdiri dari empat motor arus searah
√2 ∕ 2 √ 2 ∕ 2
][ ]
φ̇ 1 lsin (π /4−α ) (DC), LIDAR, penggerak motor, komputer mini, baterai,
cos θ sin θ 0 ẋ I
φ̇ 2
=−
√ 2 √ 2 ∕ 2 −√ 2 ∕ 2 lsin (π /4−α ) roda Mecanum, dan bodi. Representasi umum dari sistem
× −sin θ cos θ 0 ẏ I
φ̇3 r − √ 2 ∕ 2 −√ 2 ∕ 2 lsin (π /4−α ) ditunjukkan pada Gambar 3. LIDAR atas dan layar sentuh
0 0 1 θ̇
φ̇4 − √2 ∕ 2 √ 2 ∕ 2 lsin (π /4−α ) diposisikan di bagian atas robot.
Proses produksi-pengembangan robot dari
Dalam persamaan ini, = tan 1 (b = a) dianggap. tahap perancangan ditunjukkan pada Gambar 4.
Jarak hori-zontal robot dari titik tengah ke tengah Motor DC digerakkan oleh penggerak motor RoboClaw 2 15 A.
roda adalah a, dan jarak vertikal b. Matriks Setiap drive juga terhubung ke komputer mini. Komputer mini
Jacobian didefinisikan oleh Persamaan. (2). NUC5i7RYB In-tel digunakan sebagai pengontrol sistem.
Komputer mini mengirimkan sinyal kontrol yang diperlukan ke
[ ][
penggerak motor. Sensor LIDAR terhubung ke minicom-puter.
√2 ∕ 2 √2 ∕ 2 lsin(π /4−α )
]
cos θ sinθ Komputer
0 mini menafsirkan data dari LIDAR dan menghasilkan
J=
√ 2 ∕ 2 − √2 ∕ 2 lsin(π /4−α )
. −sin θ cos θ sinyal
0 kontrol yang diperlukan. Pengemudi, komputer, motor, dan
−√ 2 ∕ 2 − √ 2 ∕ 2 lsin(π /4−α ) 0 0 sensor1 yang digunakan ditunjukkan pada Gambar 5.
−√ 2 ∕ 2 √ 2 ∕ 2 lsin(π /4−α )
(b)
Penelitian ini menggunakan roda Mecanum yang diameter, Gambar 5. Peralatan yang digunakan dalam penelitian
lebar, dan daya dukungnya masing-masing 203 mm, 78 cm, dan ini. (a) roda Mecanum, (b) Intel NUC, (c) motor DC, (d)
Penggerak motor, dan (e) LIDAR.
150 kg. Pergerakan robot disediakan oleh gearmotor DC 24-V 95-
W 220-r / mnt. A 2 15 Pengemudi motor digunakan sebagai
penggerak motor. RP A2 LIDAR digunakan untuk mendeteksi yang lebih jauh dari 1 m dan mempertimbangkan
hambatan dan lingkungan. Ini memiliki kapasitas deteksi 360. Ini jarak untuk rintangan yang kurang dari 1 m. Dalam data
memberikan informasi jarak 8000 poin per detik. Jarak deteksinya yang difilter, nilai nol menunjukkan celah, sedangkan data
yang lebih dekat dari 1 m menunjukkan hambatan. Dalam
adalah 21 m.
hal ini, nilai dari nol dan yang lebih rendah memberikan titik
2. Mendeteksi Hambatan dan Celah awal dan akhir dari rintangan. Lebar celah dihitung dengan
Hambatan dideteksi menggunakan data yang diterima dari LIDAR. mencari titik awal dan akhir rintangan. Tiga situasi berbeda
Data jarak difilter dengan mempertimbangkan nol untuk rintangan terjadi antara robot dan rintangan, yang ditunjukkan pada
Gambar 6.
Gambar 6 (a) menunjukkan bahwa robot ditempatkan di antara
rintangan. Di sini d1 dan d2 menunjukkan jarak antara batas
rintangan dan robot yang diukur dengan LIDAR. Sudut batas
rintangan dengan robot dinyatakan sebagai a1 dan a2. Jarak
batas halangan ke sumbu yang melewati tegak lurus robot
dinyatakan sebagai x1 dan x2. Kesimpulannya, jika penjumlahan
dari x1 dan x2 lebih besar dari lebar robot maka robot tersebut
dapat melintas.
Gambar 6. Situasi antara halangan dan robot: (a) jika robot berada di tengah halangan, (b) jika
robot di kanan halangan, dan (c) jika robot kiri rintangan.
Persamaan. (4) digunakan untuk menghitung lebar celah. 4. Desain Pengklasifikasi Logika Fuzzy
Gambar 6 (b) menunjukkan robot di sisi kanan rintangan.
Dalam hal ini, lebar celah yang akan dihitung diberikan oleh Robot mulai bergerak dengan menghitung sudut tengah
Persamaan. (5). Gambar 6 (c) menunjukkan bahwa robot celah. Itu juga harus menghindari rintangan saat bergerak ke
berada di sisi kiri rintangan. Dalam hal ini, Persamaan. (6) tengah celah. Dalam hal ini, pengklasifikasi logika fuzzy digunakan
digunakan untuk menghitung lebar celah untuk menghindari rintangan dan memindahkan robot ke tengah
celah. Pengklasifikasi logika fuzzy dirancang dengan tiga
x1 = d1 = sin
(a1); masukan dan satu keluaran. Sudut tengah celah, sudut halangan
x2 = d2 = sin terdekat, dan jarak halangan terdekat diberikan sebagai masukan.
(a2); Jenis gerakan robot ditentukan oleh keluaran. Nilai input
Lebar celah = x1 + (4) menunjukkan di mana robot berada di celah, di sisi mana
x2; rintangan, dan seberapa dekat jaraknya dengan pusat celah.
x1 = d1 = sin Gambar 7 menunjukkan fungsi keanggotaan pengklasifikasi logika
(a1);
fuzzy.
x2 = d2 = sin
(a2); Posisi pusat celah relatif terhadap robot diekspresikan oleh
Lebar celah x2; (5) variabel linguistik, yaitu kiri, tengah, dan kanan. Sudut
= x1 pandang robot adalah 70 dari tengah ke kanan dan 80 ke kiri.
x1 = d1 = sin Sudut pemindaian robot adalah lebih besar dari lebar robot
(a1); maka robot diarahkan ke celah tersebut. Robot dipandu ke titik
x2 = d2 = sin
tengah celah selama proses orientasi. Perhitungan titik tengah
(a2);
celah dilakukan dengan menggunakan Persamaan.
Lebar celahx1; (6)
= x2
www.ijfis.org Pengembangan Robot Seluler Beroda Mekanum untuk Penghindaran Rintangan Dinamis dan Statis Berdasarkan Sensor Jarak Laser j 192
Jurnal Internasional Logika Fuzzy dan Sistem Cerdas, vol. 20, tidak. 3, September 2020
positif sebagai kiri dan kanan. Basis aturan dikembangkan di
mana keluaran ditetapkan sesuai dengan data yang masuk.
sama dengan sudut tersebut. Sudut halangan terdekat Basis aturan terdiri dari 45 aturan (Tabel 2).
dinyatakan dengan variabel linguistik, yaitu kiri, tengah, dan Dalam basis aturan, semua masukan yang mungkin dievaluasi,
kanan. Entri ketiga adalah jarak dari halangan terdekat ke dan nilai keluaran yang terkait dengan pendapat ahli dibentuk.
robot. Jarak rintangan terdekat dievaluasi dalam lima Selain itu, jika lebar celah lebih kecil dari lebar robot dan tidak
kelompok. Jarak dinyatakan oleh variabel linguistik: sangat ada ruang yang tersedia untuk melangkah lebih jauh, robot akan
dekat, dekat, sedang, jauh, terlalu jauh. Karena LIDAR berhenti. Pengklasifikasi logika fuzzy
memiliki jarak pandang 20 m, fungsi antara 0-20; 000 mm
Meja 2. Basis aturan
dibuat. Kecuali untuk fungsi maju, mundur, dan berhenti, robot
dapat melakukan enam gerakan berbeda karena adanya roda Celah Kendala Kendala Robot
Mecanum. Gerakan-gerakan ini diposisikan ke titik negatif dan
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020
sudut jarak gerakan maka digunakan istilah pengklasifikasi logika fuzzy sebagai
pengganti pengendali logika fuzzy. Pengklasifikasi logika
Kiri Kiri Sangat dekat Sisi kanan fuzzy yang digunakan sebenarnya mengontrol pergerakan
Kiri Kiri Menutup Salib kanan robot tergantung pada lokasi antara robot dan halangan. Jadi,
Kiri Kiri Tengah Salib kanan kita dapat mengatakan bahwa itu digunakan sebagai
Kiri Kiri Jauh Salib kanan pengontrol.
Kiri Kiri Terlalu jauh Lurus 3. Studi Eksperimental
Kiri Tengah Sangat dekat Sisi kiri
Kiri Tengah Menutup Salib kiri Studi eksperimental dilakukan di Laboratorium Teknik
Kiri Tengah Tengah Salib kiri Mekatronika Universitas Karabuk, Fakultas Teknologi
Kiri Tengah Jauh Salib kiri Jurusan. Studi eksperimental dilakukan dalam tiga
skenario berbeda, yang meliputi pemindaian area,
Kiri Tengah Terlalu jauh Salib kiri
menghindari rintangan statis, dan menghindari rintangan
Kiri Baik Sangat dekat Sisi kiri
statis / bergerak.
Kiri Baik Menutup Salib kiri
Dalam studi ini, lima percobaan dilakukan di bawah tiga
Kiri Baik Tengah Salib kiri
pengaturan eksperimental yang berbeda. Logika fuzzy dan
Kiri Baik Jauh Salib kiri
algoritma pelacakan celah digunakan bersama dalam
Kiri Baik Terlalu jauh Salib kiri percobaan. Gambar 8 menunjukkan diagram alir pendekatan
Tengah Kiri Sangat dekat Sisi kanan yang diikuti dalam percobaan. Gambar 8 menunjukkan bahwa
Tengah Kiri Menutup Salib kanan fungsi pemindaian robot
Tengah Kiri Tengah Salib kanan
Tengah Kiri Jauh Salib kanan
Tengah Kiri Terlalu jauh Lurus
Tengah Tengah Sangat dekat Sisi kiri
Tengah Tengah Menutup Salib kiri
Tengah Tengah Tengah Salib kiri
http://doi.org/10.5391/IJFIS.2020.20.3.188
mobile robot untuk menghindari rintangan berdasarkan informasi
LIDAR. Dalam metodologi ini, langkah-langkah proses yang
berbeda diperkenalkan tergantung-
www.ijfis.org Pengembangan Robot Seluler Beroda Mekanum untuk Penghindaran Rintangan Dinamis dan Statis Berdasarkan Sensor Jarak Laser j 196
Jurnal Internasional Logika Fuzzy dan Sistem Cerdas, vol. 20, tidak. 3, September 2020
International Journal of Fuzzy Logic and Intelligent Systems, vol. 20, no. 3, September 2020