Perancangan Robot Wall Follower dengan Metode Proportional Integral Derivative (PID) Berbasis Mikrokontroler

ABSTRACT WALL FOLLOWER ROBOT DESIGN USING PROPORTIONAL INTEGRAL DERIVATIVE (PID) METHODS ON BASED MICROCONTROLLER By As'Ari 0910452017 Wall following robot is an automatic robot which moves following walls in a fixed route. This kind of robot uses a navigation system which has been used in robot contest such as Indonesian Smart Robot Contest (KRCI) and using this system the robot can move following any kind of routes in the arena. This type of robot is chosen because the arena consists of many aisles and rooms. In this final year project, a control algorithm for wall following robot has been designed and implemented using Proportional Integral Derivative (PID) controller as the navigation control system. The implemented robot has to follow walls which have free shape. The goal of this PID controller is to help smoothening the robot's movement when it follows the arena's wall. With the help of PID controller, the robot can navigate smoothly, responsively, and can avoid any collision with the wall. The parameters used for PID controller's tuning was determined using trial and error method. For this research, the parameters' values are Kp = 6, Ki = 1, and Kd = 3. Keywords : Wall Following Robot , PID Controller, Parameters' Tunin