Abstract

The Tsukamoto and Mamdani fuzzy logic is compared to find the most appropriate fuzzy logic controller for underwater remotely operated vehicle (ROV) gimbal. The comparison is made by observing the closest estimation from both toward the manual calculation. The Mamdani fuzzy logic is the most appropriate because the error is smaller. This fuzzy logic is implemented on Raspberry Pi with an Ov5647 camera in the real-time experiment. Based on the experiment, the boundaries for fuzzy are set to 220 and 280, and 170 and 200 for vertical and horizontal movement. When dealing with diagonal direction, it always starts with horizontal (X) followed by vertical (Y). The results show that whenever the object's centroid is successfully found, the gimbal automatically converts it to angle and moves the two servo motors accordingly.

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