RANCANG BANGUN SENSOR KOMPAS SEBAGAI PENDETEKSI SUDUT ORIENTASI ROBOT BERODA

Ilham Sayekti, Bambang Supriyo, Sulistyo Warjono, Samuel Beta Kuntardjo, Vinda Setya Kartika

Abstract


The navigation system on the robot is a very important part of the wheeled robot so that the robot can maneuver precisely from one point to another according to the track with minimal errors. To reduce the occurrence of these errors, in this study, a compass sensor is used to bring the robot closer when it moves. This study aims to design an angle detection system on a wheeled robot that uses an electronic compass sensor. This electronic compass sensor needs to be tested for its performance to detect the direction angle to be set from 0º to 360º. The measurement results based on this compass sensor will be compared with the rotation angle detected using the encoder. From the results of this test, it will be known the ability of the sensor to detect the orientation of the wheeled robot while moving


Keywords


navigation, compass; encoder; angle detection; wheeled robot

Full Text:

PDF

References


A. Araújo, D. Portugal, M. S. Couceiro and R. P. Rocha. Integrating Arduino-based educational mobile robots in ROS. 2013 13th International Conference on Autonomous Robot Systems, Lisbon. 2013. 1-6

B. E. Georgiou and J. Dai, "Using a dual compass configuration with shaft encoders for self-localization of an autonomous maneuverable nonholonomic mobile robot," 2010 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 2010, pp. 142-149, doi: 10.1109/RAMECH.2010.5513199

F. Ardilla, B.S. Marta dan A.R.A. Besari. (2011). Path Tracking pada Mobile dengan Umpan Balik Odometry. The 13th Industrial Electronics Seminar (IES 2011). 1-8

H. Yang, Fan, X., Shi, P., and Hua, C. (2016). Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint. IEEE Transactions on Control Systems Technology, 24(2), 741-746.

J. Lee and S. Jung, "Global position tracking control of an omni-directional mobile robot using fusion of a magnetic compass and encoders," 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea (South), 2008, pp. 246-251, doi: 10.1109/MFI.2008.4648072.

L. C. Png, L. Chen, S. Liu and W. K. Peh, "An Arduino-based indoor positioning system (IPS) using visible light communication and ultrasound. 2014 IE

M. Kok, Jeroen D. Hol and Thomas B. Sch¨on (2017), ”Using Inertial Sensors for Position and Orientation Estimation”, Foundations and Trends in Signal Processing: Vol. 11: No. 1-2, pp 1-153.

M. M. Abrar, R. Islam and M. A. H. Shanto, "An Autonomous Delivery Robot to Prevent the Spread of Coronavirus in Product Delivery System," 2020 11th IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON), New York, NY, USA, 2020, pp. 0461-0466, doi: 10.1109/UEMCON51285.2020.9298108.

S.K. Malu and J. Majumdar. (2014). Kinematics, Localization and Control of Differential Drive Mobile Robot. Global Journal of Researches in Engineering (H): Robotics & Nano-Tech Volume 14 Issue 1 Version 1.0 Year 2014

S. Maldonado-Bascón, R. J. López-Sastre, F. J. Acevedo-Rodríguez and P. Gil-Jiménez. 2019. On-Board Correction of Systematic Odometry Errors in Differential Robots. Journal of Sensors, 2019, Volume 2019, Page 1


Refbacks

  • There are currently no refbacks.