Kristiyanti Abri Irvananda et al, Int. Journal of Research in Information Technology, Volume 2, Issue 5, May 2018, Pg: 5-12 ISSN (Online): 2001-5569 UGC Approved Journal, Impact Factor: 1.021 5 ©Copyrights IJRIT, www.ijrit.net Object Following using Fuzzy Controller for Assistive Robot Kristiyanti Abri Irvananda 1 , Bayu Aji Saputro 2 , M Hilmi Rizqi Ilahi 3 , Sulfan Bagus Setyawan 4 1 Student, Department of Computer Control Engineering, State Polytechnic of Madiun, East Java, Indonesia kristiabri@gmail.com 2 Student, Department of Computer Control Engineering, State Polytechnic of Madiun, East Java, Indonesia bayu.ajisaputro@ymail.com 3 Student, Department of Computer Control Engineering, State Polytechnic of Madiun, East Java, Indonesia muhammadhilmi2202@gmail.com 4 Lecturer, Department of Computer Control Engineering, State Polytechnic of Madiun, East Java, Indonesia sulfan@pnm.ac.id Abstract: Now days, mobile robot applications are used to assist human jobs such as assistive robots. One example of an assistive robot is a object follower robot. In this paper, the object follower robot using a fuzzy controller for Alzheimer disease, is proposed. In this research, robot used three IR sensors to detect the presence of objects. To reduce the effect of noise kalman filter is implemented in this robot. To control the movement of the robot, fuzzy controller is used. The input of the fuzzy controller is an error obtained from filtered sensor inputs. Then the output of the fuzzy controller is the motor velocity of the robot. So when the object move away from the robot, robot velocity will increase, vice versa when the object move closer to the robot then the motor speed will slowly, in accordance with the results of the fuzzy controller. In the experiment that has been done, it can be seen that the control of the movement of robots using fuzzy logic controller obtained good results. This is shown by settling time that can be reached by robot is 1.6 second and steady state error value is 0.21%. Keywords: robot, object follower, fuzzy controller. 1. Introduction By rapid technology advances in this modern era, many systems can help the life and work of humans. One to them is object follower robot. Object follower robot can be used for daily human needs such as military surveillance [1], smart vehicles, and virtual reality [2]. To move in uncertain environments, the robot must get the surroundings information by using various sensors such as proximity sensor, camera, etc. Various methods are used, so the robots can follow the object. In 2015, Akshay et al developed intelligent robots to track humans. This robot was equipped with various sensors to detect the presence of humans. Temperature and pyro sensors in this robot were used to detect the temperature of the environment. If the temperature obtained by the sensor exceeded the specified threshold, it would be detected as human. To monitor the surroundings, the robot was equipped with a camera sensor. The camera sensor was embedded in the phone. In this research, camera data was sent to the PC, so it could monitored directly by the user [1]. But in this robot could only be used for human