Sistem Positioning Robot Four-Omnidirectional Wheels Menggunakan MPU6050 dan Encoder Berbasis PD-Fuzzy Controller
Abstract
Robot beroda four-omnidirectional wheels merupakan robot autonomous yang dapat bergerak ke arah mana saja tanpa mengubah arah hadap robot tersebut. Sehingga tantangan utama dari robot ini yaitu sistem positioning yang hingga saat ini belum terdapat solusi absolut untuk mengatas permasalahan tersebut. Oleh karena itu dibutuhkan sebuah sistem kendali yang bisa memperbaiki dan mengurangi terjadinya eror positioning robot. Pada penelitian ini menggunakan kombinasi dua controller yaitu PD Controller dan fuzzy logic controller dengan algoritma switching controller yang diolah pada software STM32CubeIDE. Selain itu, pergerakan robot beroda four-omnidirectional wheels menggunakan inverse kinematika sehingga robot dapat menuju titik koordinat yang ditentukan dengan baik dan cepat. Sistem positioning pada penelitian ini menggunakan sensor MPU6050 sebagai pembaca orientasi hadap robot, dan sensor rotary encoder sebagai pembaca posisi robot di lapangan. Pengujian sistem positioning ini dilakukan dengan membandingkan antara positioning tanpa controller, Positioning Fuzzy Logic Controller, Positioning PD Controller dan Positioning dengan PD-Fuzzy controller pada pergerakan home to point, point to point, dan point to home. Diperoleh sistem Positioning dengan PD-Fuzzy controller menjadi yang terbaik dengan rata-rata eror 2,33 cm terhadap sumbu x dan 1,33 cm terhadap sumbu y, serta membutuhkan waktu 3,25 detik untuk mencapai setpoint.
-- A four-omnidirectional wheels robot is an autonomous robot that can move in any direction without changing the direction it is facing. So that the main challenge of this robot is the positioning system which until now there is no absolute solution to overcome this problem. Therefore we need a control system that can improve responses and reduce the occurrence of robot positioning errors. In this research, a combination of two controllers was used, namely the PD controller and the fuzzy logic controller with a switching controller algorithm that was processed in the STM32CubeIDE software. In addition, the movement of the four-omnidirectional wheels robot uses inverse kinematics so that the robot can go to the coordinates that are determined properly and quickly. The positioning system in this study uses the MPU6050 sensor as a reader for the orientation of the robot, and a rotary encoder sensor as a reader for the position of the robot in the field. Testing of the positioning system is carried out by comparing positioning without a controller, Positioning Fuzzy Logic Controller, Positioning PD Controller and Positioning with PD-Fuzzy controller on home to point, point to point and point to home movements. The Positioning system with PD-Fuzzy controller is the best with an average error of 2.33 cm on the x-axis and 1.33 cm on the y-axis, and takes 3.09 seconds to reach the setpoint.
Keywords
Full Text:
PDFReferences
F. Umam, “Pengembangan Sistem Kendali Pergerakan Autonomous Mobile Robot Untuk Mendapatkan Jalur Bebas Hambatan Menggunakan Fuzzy Logic Controller,” J. Ilm. Mikrotek, vol. 1, no. 1, pp. 35–42, 2013.
K. V. Ignatiev, M. M. Kopichev, and A. V. Putov, “Autonomous Omni-Wheeled Mobile Robots,” IEEE, pp. 0–3, 2016.
S. G. Tzafestas, Introdution to Mobile Robot Control, 1st ed. Athens: National Technical University of Athens, 2013. doi: 10.1016/b978-0-12-417049-0.00020-1.
M. Rahman and H. Aprilianto, “Penerapan Metode Fuzzy Pada Robot Beroda Menggunakan Omni-Directional Wheels,” Jutisi, vol. 5, no. 2, pp. 1075–1082, 2017.
G. Fragapane, R. de Koster, F. Sgarbossa, and J. O. Strandhagen, “Planning and control of autonomous mobile robots for intralogistics: Literature review and research agenda,” Eur. J. Oper. Res., vol. 294, no. 2, pp. 405–426, 2021, doi: 10.1016/j.ejor.2021.01.019.
A. Rachmawan, “Penentuan Posisi Robot Sepak Bola Beroda Menggunakan Rotary Encoder dan Kamera,” Undergrad. thesis, Jur. Tek. Elektro, Fak. Teknol. Ind. Inst. Teknol. Sepuluh Nopember, Surabaya, 2017.
J. Borenstein, H. R. Everett, L. Feng, and D. Wehe, “Mobile Robot Positioning - Sensors and techniques,” J. Robot. Syst., vol. 14, no. 4, pp. 231–249, 1997.
R. H. Abiyev, I. S. Günsel, N. Akkaya, E. Aytac, A. Çaǧman, and S. Abizada, “Fuzzy control of omnidirectional robot,” Procedia Comput. Sci., vol. 120, pp. 608–616, 2017, doi: 10.1016/j.procs.2017.11.286.
K. Nurariyanto, “Sistem Positioning Pada Four-Wheeled Omnidirectional Mobile Robot Menggunakan Metode Gyrodometry Berbasis PI- Fuzzy Controller,” Tek. Elektro, 2022.
M. Lamatenggo, I. Wiranto, and W. Ridwan, “Perancangan Balancing Robot Beroda Dua Dengan Metode Pengendali PID Berbasis Arduino Nano,” Jambura J. Electr. Electron. Eng., vol. 2, no. 2, pp. 39–43, 2020, doi: 10.37905/jjeee.v2i2.6906.
I. H. Lahay, H. Hasanuddin, J. D. Giu, and M. G. Bawole, “Penentuan Grade Kopra Dengan Penerapan Metode Logika Fuzzy,” Jambura J. Electr. Electron. Eng., vol. 5, no. 1, pp. 122–129, 2023, doi: 10.37905/jjeee.v5i1.17073.
W. Ridwan, I. Wiranto, L. Azzahra, and F. Lakoro, “Penentuan Uang Kuliah Tunggal Mahasiswa Universitas Negeri Gorontalo Berbasis Logika Fuzzy,” Jambura J. Electr. Electron. Eng., vol. 3, no. 2, pp. 62–65, 2021, doi: 10.37905/jjeee.v3i2.10617.
J. Yun, J. Park, H. Choi, and J. Lee, “Absolute Positioning System for Mobile Robot Navigation in an Indoor Inveronment,” ICCAS, no. Iccas, pp. 1448–1451, 2004.
S. E. Oltean, M. Dulau, and R. Puskas, “Position Control of Robotino Mobile Robot Using Fuzzy Logic,” IEEE Int. Conf. Autom. Qual. Testing, Robot. AQTR 2010 - Proc., vol. 1, pp. 366–371, 2010, doi: 10.1109/AQTR.2010.5520855.
B. Firman, “Implementasi Sensor IMU MPU6050 Berbasis Serial I2C Pada Self-Balancing Robot,” Juenal Teknol. Technoscientia, vol. 9, no. 1, pp. 18–24, 2016.
S. Setiawan, Firdaus, B. Rahmadya, and Derisma, “Penerapan Invers Kinematika Untuk Pergerakan Kaki Robot Biped,” no. November, pp. 1–9, 2015.
K. Ogata, Modern control engineering, 5th ed., vol. 17, no. 3. Tokyo: Prentice Hall, 2010. doi: 10.1109/tac.1972.1100013.
N. T. Pasaribu and E. M. Sartika, “Wheeled Robot Based for Indonesian Intelligent Robot Contest Robot Beroda Untuk Kontes Robot Cerdas,” no. 220148, 2012.
DOI: https://doi.org/10.37905/jjeee.v5i2.20138
Refbacks
- There are currently no refbacks.
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Published by:
Electrical Engineering Department
Faculty of Engineering
State University of Gorontalo
Jenderal Sudirman Street No.6, Gorontalo City, Gorontalo Province, Indonesia
Telp. 0435-821175; 081340032063
Email: redaksijjeee@ung.ac.id/redaksijjeee@gmail.com
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.