Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot
Indonesian Abu Robot Contest (KRAI) in 2018 with the theme "Throwing a Blessing Ball". The main purpose of this robot is to be able to navigate automatically in an area that is bordered by walls to complete the mission. The main problem with the robot is the navigation system. The applicat...
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| Format: | Article |
| Language: | English |
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ASCEE
2021
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/33441/1/Wall%20following%20control%20system%20with%20pid%20control_FULL.pdf |
| _version_ | 1825814208577536000 |
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| author | Muhamad Hamam, Iqbal Wahyu, Sapto Aji |
| author_facet | Muhamad Hamam, Iqbal Wahyu, Sapto Aji |
| author_sort | Muhamad Hamam, Iqbal |
| collection | UMP |
| description | Indonesian Abu Robot Contest (KRAI) in 2018 with the theme "Throwing a Blessing Ball". The main purpose of this robot is to be able to navigate automatically in an area that is bordered by walls to complete the mission. The main problem with the robot is the navigation system. The application of PID control in the wall following system has been able to make robot movements smooth, responsive, and fast. In this study, PID control aims to smooth the movement of the robot while walking along the wall in the race arena. The PID parameter is obtained from the results of tuning with the trial and error method, the values of KP = 3, KI = 0, and KD = 5. At the PWM 150 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 4.4. cm. At the PWM 200 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.4 cm. At the PWM 250 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.8 cm. This error does not have an effect on the performance of the wall following system because the system only uses the distance value reading data with a decimal value in front of the comma. So it can be concluded that the wall following system, which is designed using ultrasonic sensors with measurement error that occurs, is zero. |
| first_indexed | 2024-03-06T12:55:25Z |
| format | Article |
| id | UMPir33441 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:55:25Z |
| publishDate | 2021 |
| publisher | ASCEE |
| record_format | dspace |
| spelling | UMPir334412022-04-08T07:36:44Z http://umpir.ump.edu.my/id/eprint/33441/ Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot Muhamad Hamam, Iqbal Wahyu, Sapto Aji T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Indonesian Abu Robot Contest (KRAI) in 2018 with the theme "Throwing a Blessing Ball". The main purpose of this robot is to be able to navigate automatically in an area that is bordered by walls to complete the mission. The main problem with the robot is the navigation system. The application of PID control in the wall following system has been able to make robot movements smooth, responsive, and fast. In this study, PID control aims to smooth the movement of the robot while walking along the wall in the race arena. The PID parameter is obtained from the results of tuning with the trial and error method, the values of KP = 3, KI = 0, and KD = 5. At the PWM 150 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 4.4. cm. At the PWM 200 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.4 cm. At the PWM 250 set point, the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.8 cm. This error does not have an effect on the performance of the wall following system because the system only uses the distance value reading data with a decimal value in front of the comma. So it can be concluded that the wall following system, which is designed using ultrasonic sensors with measurement error that occurs, is zero. ASCEE 2021 Article PeerReviewed pdf en cc_by_sa_4 http://umpir.ump.edu.my/id/eprint/33441/1/Wall%20following%20control%20system%20with%20pid%20control_FULL.pdf Muhamad Hamam, Iqbal and Wahyu, Sapto Aji (2021) Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot. International Journal of Robotics and Control, 1 (1). pp. 1-14. ISSN 2775-2658. (Published) https://doi.org/10.31763/ijrcs.v1i1.206 https://dx.doi.org/10.31763/ijrcs.v1i1.206 |
| spellingShingle | T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Muhamad Hamam, Iqbal Wahyu, Sapto Aji Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title | Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title_full | Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title_fullStr | Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title_full_unstemmed | Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title_short | Wall following control system with pid control and ultrasonic sensor for KRAI 2018 robot |
| title_sort | wall following control system with pid control and ultrasonic sensor for krai 2018 robot |
| topic | T Technology (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/33441/1/Wall%20following%20control%20system%20with%20pid%20control_FULL.pdf |
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