Autonomous Navigation System Using Indoor GPS on Turtlebot Burger Robot

Abstract

The Robot Turtlebot3 Burger was developed as an autonomous mobile robot, a robot that can run automatically or only requires one command. So that the robot can run automatically, a navigation system is needed. In this study, an autonomous navigation system was developed for the turtlebot3 burger robot that moves on land on a flat surface with Indoor Positioning System (IPS) technology through an ultrasonic approach using Marvelmind robotics so that the robot can recognize the position and direction based on the Earth's coordinate system in the room. Position-based IPS uses the waypoint method to determine the movement of the robot from the initial coordinate point to the destination coordinate point based on the Earth coordinate system. The test results show that the autonomous navigation system using indoor GPS on the turtlebot3 burger robot has an accuracy of ± 1 cm. Based on the RMSE calculation, navigation using indoor GPS has a lower error rate than without using indoor GPS. Navigation using the waypoint method can regulate the movement of the autonomous robot according to the robot's point and mission.