Identifikasi Pemodelan Matematis Robot Wall Following

Fahmizal, Fahmizal; Arrofiq, Muhammad; Mayub, Afrizal

doi:10.22146/jnteti.v7i1.404

Cited by 6 publications

(3 citation statements)

References 8 publications

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“…13. The tuning method used in the PID control test is a trial and error experiment with regards to the characteristics of the PID control [13]. The first step is using only Figure 12.…”

Section: E Pid Control Testmentioning

confidence: 99%

Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot

Apriaskar

Fahmizal

Cahyani

et al. 2020

JRE

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This article describes the design and implementation of behavior-based robotic (BBR) algorithm on a wheeled mobile robot (WMR) Pioneer P3-DX in a maze exploration mission using V-REP simulator. This robot must trace and search for targets placed randomly on a labyrinth. After successfully meeting the objective, robot runs back to home position using the nearest path. Robot navigation system applies BBR algorithm to reach the target using behavior modules which work simultaneously to obtain the desired robot’s trajectory. The most fundamental behavior which is highly affordable to build on the robot system is a wall-following behavior. To make the robot could follow the wall in a safe, smooth and responsive condition, proportional-integral-derivative (PID) controller is applied. PID controller runs by utilizing the reading of sixteen proximity sensors carried on Pioneer P3-DX robot toward the expected wall distance while the robot is exploring the labyrinth. To ensure the designed system works properly, several tests were conducted, including BBR test and PID controller test. BBR test shows that the system can choose the shortest track when returning to home position. The PID controller test produces robot movement with maximum deviation and settling time for about 0.013 m and 30 seconds, respectively.

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“…13. The tuning method used in the PID control test is a trial and error experiment with regards to the characteristics of the PID control [13]. The first step is using only Figure 12.…”

Section: E Pid Control Testmentioning

confidence: 99%

Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot

Apriaskar

Fahmizal

Cahyani

et al. 2020

JRE

Self Cite

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“…Dalam menentukan sistem pergerakan robot, dapat digunakan dua jenis media, yaitu luar dan dalam. Contoh media dari luar adalah garis dan dinding [3]. Namun, penggunaan media dari luar kurang begitu efisien.…”

Section: Pendahuluanunclassified

Trajectory Tracking pada Robot Omni dengan Metode Odometry

Fahmizal¹,

Rijalussalam²,

Budiyanto³

et al. 2019

Jurnal Nasional Teknik Elektro dan Teknologi Informasi

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This paper presents trajectory tracking on omni robots using odometry method. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate changes in position over time. The rotary encoder sensor is used to count the movement of the omni robot at the x and y coordinates in the odometry calculation process in this study. Furthermore, using the reverse kinematics on the omni robot, the rotational speed value of each DC motor in the omni robot wheel is obtained. In addition, to obtain the results of a good robot movement on the odometry system, PID control is applied to control the rotational speed of each DC motor on the omni robot wheel. With reverse kinematics and odometry systems, omni robot trajectory designs can be easily built. To test the odometry method performance in trajectory tracking process, there are three types of trajectory testing patterns, namely rectangles, equilateral triangles, and equilateral triangles. From the results of this test, the error value obtained is below 5%. Intisari-Makalah ini memaparkan trajectrory tracking pada robot omni dengan metode odometry. Sistem odometry bertujuan untuk memperkirakan posisi relatif terhadap posisi awal robot omni untuk memperkirakan perubahan posisi dari waktu ke waktu. Sensor rotary encoder digunakan untuk mencacah pergerakan robot omni pada koordinat x dan y pada proses perhitungan odometry. Selanjutnya, dengan menggunakan kinematika balik pada robot omni, nilai kecepatan putar masingmasing motor DC pada roda robot omni diperoleh. Selain itu, untuk memperoleh hasil pergerakan robot yang baik pada sistem odometry, kendali PID diterapkan untuk mengendalikan kecepatan putar masing-masing motor DC pada roda robot omni. Dengan kinematika balik dan sistem odometry, desain trajectory robot omni dapat dengan mudah dibangun. Untuk menguji kinerja metode odometry dalam melakukan proses trajectory tracking, terdapat tiga jenis pola pengujian trajectory, yaitu persegi panjang, segitiga sama sisi, dan segitiga sama kaki. Dari hasil pengujian ini, diperoleh nilai kesalahan di bawah 5%.

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“…Robot line follower merupakan robot yang berjalan mengikuti lintasan berupa garis lurus, belok, bahkan persimpangan secara otonom [8], [9]. Robot line follower dapat diaplikasikan sebagai pengangkut barang agar dapat ditujukan ke tempatnya dengan melintasi garis lintasan [10], [11] [12]. Agar pergerakan robot saat beroperasi sesuai harapan diperlukan suatu sistem pengendalian, namun pengendalian robot tersebut memiliki kendala yakni kestabilan robot dalam mencermati lintasan yang dibaca, maka kendali PID dan mapping kontrol Gambar 1.…”

Section: A Introductionunclassified

Use of Video and Robot Simulation at MIN 1 Kepahiang Bengkulu

Mayub

Wardana

Johan

2022

DIKDIMAS J. Pengabdi. Kpd. Masy.

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Community service activities are one of the university's tridharma activities that must be carried out by every lecturer, therefore lecturers of the Bengkulu University Master of Science Program in collaboration with teachers of Madrasah Ibtidaiyah Negeri 1 Kepahiang, Bengkulu on March 31, 2022 have carried out Community Service activities at Madrasah Ibtidaiyah Negeri 1 Kepahiang, Bengkulu. This collaboration is in the form of community service activities at Madrasah Ibtidaiyah Negeri 1 Kepahiang, Bengkulu with the title "Line Follower Robot Demonstration and Simulation to Increase Students' Interest in Learning Science at Home at Madrasah Ibtidaiyah Negeri 1 Kepahiang, Bengkulu. From these activities it can be concluded that; Robotics material delivered using interactive multimedia which includes lectures, virtual demos, animations, visualizations, and simulations as well as videos has proven to be successful in motivating students to care more about science in the motivated/cared category with a score of 3.85 on a scale of 1 -5.

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Identifikasi Pemodelan Matematis Robot Wall Following

Cited by 6 publications

References 8 publications

Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot

Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot

Trajectory Tracking pada Robot Omni dengan Metode Odometry

Use of Video and Robot Simulation at MIN 1 Kepahiang Bengkulu

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