PENERAPAN ALGORITMA PID PADA ROBOT LINE FOLLOWER

Line follower robot is a robot with the ability to follow the form of guide lines. This study aimed to design a line follower robot with PID control based on the microcontroller. PID method is one of the closed loop control method which consists of a combination of constant propotional, integral, and derivative. Overall, there are three stages in the design of this robot. First, the design of electronic circuit design which includes sensors, microcontrollers, motor drivers, power supply and LCD series. Second, mechanical design, anf Thir, the design software. In general, the shape of the robot is walking the black line. The entire system is controlled by a microcotroller work ATMega 16. Base is a series of robot vision sensor is composed of a line of LED, Photodiode and Resistor, while the robot motion is sustained by two DC motors. Reuslt komporasi input value will be displayed through the LCD and batrai derived from the voltage source. Movement of the robot is able to pass through the bend at an angle 900 and 450. However, to the corner below it, sometimes the robot is still having troublr. Characteristics depend on the movement of the robot is in addition to software, also depends on mechanical design, so that that the mechanical friction to diminomalisir. Test result showed the composition of which is considered ideal PID value is Kp: 14, Ki: 0, and Kd: 4