Sistem Kendali Proporsional pada Robot Penghindar Halangan (Avoider) Pioneer P3-DX
Abstract
The basic ability that a mobile robot must have is to avoid obstacles, by being able to avoid obstacles, the robot will be able to do its job well without having to hit any obstacles, because by hitting an obstacle it will make the robot take longer to complete the mission even the robot can experience disorientation With the implementation of a control system on obstacle avoidance robots, the robot can overcome existing obstacles. Proportional control is a simple and easy to use control on a mobile robot, with eight sensors on the robot making the robot more sensitive to obstacles in front of it, so the pioneer type mobile robot P3-DX was used in this study. The robot has been able to pass through the existing obstacles with a Kp value of 2 and a constant speed of 4 without hitting it.
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References
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[26] S. C. Purbarani, Q. A’yunina, M. A. Ma’sum, and M. F. Rachmadi, “Simulation Of Landmark Approach For Wall Following Algorithm On Fire-Fighting Robot Using V-Rep,” J. Ilmu Komput. Dan Inf., vol. 8, no. 2, p. 100, Aug. 2015, doi: 10.21609/jiki.v8i2.308.
[2] A. Nurkholis, A. Riyantomo dan M. Tafrikan, “Sistem pakar penyakit lambung menggunakan metode forward chaining,” Majalah Ilmiah Momentum, vol. 13, no. 1, 2017.
[3] S. Badillo et al., An Introduction to Machine Learning Clin. Pharmacol. Ther., 2020.
[4] R. M. R. Ridwansyah and Z. Abidin, “Sistem Kontrol Pada Self Driving Car (Mobil Tanpa Kemudi) Buatan Perusahaan Google Yang Didukung Oleh GPS,” p. 8, 2019.
[5] D. Rahmat Zuliyanto and G. Hermawan2, “Implementasi Algoritma Fuzzy Logic Pada Autonomous Mobile Robot Untuk Kasus Pendeteksian Halangan,” J. Ilm. Komput. Dan Inform. KOMPUTA, p. 9, 2016.
[6] E. Rohmer, S. P. Singh, and M. Freese, “V-REP: A versatile and scalable robot simulation framework,” In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013, pp. 1321-1326.
[7] T. Susanto, S. D. Riskiono, and A. Nurkholis, “IMPLEMENTASI KENDALI LQR UNTUK PENGENDALIAN SIKAP LONGITUDINAL PESAWAT FLYING WING,” J. Electro Luceat, vol. 6, no. 2, p. 10, 2020.
[8] T. Susanto and S. Ahdan, “Pengendalian Sikap Lateral Pesawat Flying wing Menggunakan Metode LQR,” PRotek J. Ilm. Tek. Elektro, vol. 7, no. 2, pp. 99–103, Sep. 2020, doi: 10.33387/protk.v7i2.2034.
[9] M. Amin and M. S. Novelan, “Sistem Kendali Obstacle Avoidance Robot Sebagai Prototype Social Distancing Menggunakan Sensor Ultrasonic dan Arduino,” vol. 5, p. 6, 2020.
[10] E. D. Marindani, “Robot Mobile Penghindar Halangan (Avoider Mobile Robot) Berbasis Mikrokontroler AT89S5,” p. 7, 2011.
[11] O. Oky, “PERANCANGAN ROBOT AVOIDER BERBASIS ARDUINO UNO MENGGUNAKAN TIGA SENSOR ULTRASONIK,” EPIC J. Electr. Power Instrum. Control, vol. 1, no. 2, Jul. 2018, doi: 10.32493/epic.v1i2.1529.
[12] S. Samsugi and D. Kastutara, “INTERNET OF THINGS (IOT): Sistem Kendali Jarak Jauh Berbasis Arduino Dan Modul Wifi Esp8266,” p. 8, 2017.
[13] E. Apriaskar, F. Fahmizal, I. Cahyani, and A. Mayub, “Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot,” J. Rekayasa Elektr., vol. 16, no. 1, May 2020, doi: 10.17529/jre.v16i1.15081.
[14] M. N. Riandana, I. N. Budiastra, and C. G. I. Partha, “Aplikasi Sensor Cahaya Sebagai Sensor Garis Pada Robot Berbasis Kontrol PID Dengan Pengaturan Kepekaan Cahaya Otomatis,” Maj. Ilm. Teknol. Elektro, vol. 16, no. 3, p. 56, Dec. 2017, doi: 10.24843/MITE.2017.v16i03p10.
[15] I. Qosim and M. Mujirudin, “Analisis Pengaturan Kecepatan Motor DC Menggunakan Kontrol PID (Proportional Integral Derivative),” vol. 2, no. 2502, p. 6, 2017.
[16] M. Freese, S. Singh, F. Ozaki, and N. Matsuhira, “Virtual robot experimentation platform V-REP: A Versatile 3D Robot Simulator,” In International Conference on Simulation, Modeling, and Programming for Autonomous Robots, November 2010, pp. 51-62.
[17] S. Azak and E. Erdogan, “Performance evaluation of the grid-based FastSLAM in V-REP using MATLAB,” in 2018 14th International Conference on Advanced Trends in Radioelecrtronics, Telecommunications and Computer Engineering (TCSET), Lviv-Slavske, Ukraine, Feb. 2018, pp. 276–281, doi: 10.1109/TCSET.2018.8336202.
[18] H. Batti, C. B. Jabeur and H. Seddik, "Mobile Robot Obstacle Avoidance in labyrinth Environment Using Fuzzy Logic Approach," 2019 International Conference on Control, Automation and Diagnosis (ICCAD), Grenoble, France, 2019, pp. 1-5, doi: 10.1109/ICCAD46983.2019.9037873.
[19] A. Pandey, V. S. Panwar, M. E. Hasan, and D. R. Parhi, “V-REP-based navigation of automated wheeled robot between obstacles using PSO-tuned feedforward neural network,” J. Comput. Des. Eng., vol. 7, no. 4, pp. 427–434, Aug. 2020, doi: 10.1093/jcde/qwaa035.
[20] H. Li, “User Interface of Indoor Mapping based on Project TANGO,” Int. Conf. Indoor Position. Indoor Navig. IPIN, p. 5, 2016.
[21] Rajmohan, Gowtham. obstacle detection and avoidance methods for autonomous mobile robot. 10.13140/RG.2.1.4463.2567, 2016.
[22] W. Purbowaskito and C.-H. Hsu, “Sistem Kendali PID untuk Pengendalian Kecepatan Motor Penggerak Unmanned Ground Vehicle untuk Aplikasi Industri Pertanian,” J. INFOTEL, vol. 9, no. 4, p. 376, Nov. 2017, doi: 10.20895/infotel.v9i4.253.
[23] Iswanto, Alfian Ma’arif, Riky Dwi Puriyanto, Nia Maharani Raharja, Safinta Nurindra Rahmadhia, “Arduino Embedded Control System of DC Motor Using Proportional Integral Derivative”, IJCA, vol. 13, no. 4, pp. 658 - 667, May 2020.
[24] R. Arindya, U. Satyagama, J. K. R. No, and A. J. Barat, “Penalaan Kendali PID untuk Pengendali Proses,” vol. 8, no. 2, p. 8, 2017.
[25] P. A. Ashokbhai and V. G. Savani, “Performance Analysis of PID Controller and Its significance for Closed Loop System,” Int. J. Eng. Res., vol. 3, no. 3, p. 5, 2014.
[26] S. C. Purbarani, Q. A’yunina, M. A. Ma’sum, and M. F. Rachmadi, “Simulation Of Landmark Approach For Wall Following Algorithm On Fire-Fighting Robot Using V-Rep,” J. Ilmu Komput. Dan Inf., vol. 8, no. 2, p. 100, Aug. 2015, doi: 10.21609/jiki.v8i2.308.
Published
2021-03-01
How to Cite
JAYADI, Akhmad; SUSANTO, Try; ADHINATA, Faisal Dharma.
Sistem Kendali Proporsional pada Robot Penghindar Halangan (Avoider) Pioneer P3-DX.
Majalah Ilmiah Teknologi Elektro, [S.l.], v. 20, n. 1, p. 47-52, mar. 2021.
ISSN 2503-2372.
Available at: <https://ojs.unud.ac.id/index.php/jte/article/view/68216>. Date accessed: 26 apr. 2024.
doi: https://doi.org/10.24843/MITE.2021.v20i01.P05.
Section
Articles
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
This work is licensed under a Creative Commons Attribution 4.0 International License
