RANCANG BANGUN MOBILE ROBOT LINE FOLLOWER PADA LINTASAN LABIRIN DENGAN METODE DEPTH FIRST SEARCH

ABSTRACT DESIGN MOBILE ROBOT LINE FOLLOWER ON LABYRINTH TRACK WITH DEPTH FIRST SEARCH METHOD by: RIZKI 0810452054 Line follower robot is a mobile robot type categories, where the robot can move to follow the trajectory of a line of black or white. The design of line follower robot is not just a line mengukuti its trajectory, but can find the shortest path search in a labyrinth path using DFS ( Depth First Search ). With the DFS method, the robot can determine the right decision to find a solution search and calculates the distance and travel time of the robot when the robot before and after a search found a solution. So that the robot can move with agile and responsive dilintasan maze, the robot is assisted by the system PID control ( Proportional Integrative Derivative ). While the maze is designed trajectory at the time of testing had a 7 pieces start point and finish point 1 piece. From the test results, the travel time of the robot while learning mode with the mode obtained an average return time difference is 18 seconds and the average difference of the distance is 242.86 cm. While the Kp and Kd values obtained are Kp = 30, Kd = 8. Keywords : line follower mobile robot, depth-first search, photodiode, PI