Article Per Year (5 Year)
p-Index From 2021 - 2026
0.23
P-Index
This Author published in this journals
All Journal International Journal of Enterprise Modelling
Hendrana Tjahjadi
Universitas Pertahanan Republik Indonesia, Bogor, Indonesia
Computer Science & IT Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Engineering Industrial & Manufacturing Engineering Library & Information Science Mathematics Transportation

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Implementation of a ROS 2-Based Differential Robot Drive System in a Robot Control System Ivan Rivaldo Butarbutar; Roni Permana Saputra; Hendrana Tjahjadi
International Journal of Enterprise Modelling Vol. 20 No. 2 (2026): May: Enterprise Modelling
Publisher : International Enterprise Integration Association

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35335/int.jo.emod.v20i2.200

Abstract

This study aims to develop and evaluate a ROS2-based differential-drive robot control system using a low-cost embedded robotic architecture consisting of a Raspberry Pi 4 and Arduino Nano. The proposed system redesigns the previous robot architecture by simplifying the embedded controller configuration from multiple microcontrollers into a single Arduino Nano integrated with dual independent BLDC motor drivers. The system utilizes ROS2 communication topics including /cmd_vel, /target_rpm, /wheel_rpm, and /odom to enable real-time motion control, wheel speed feedback, and odometry estimation. Motor control is implemented using a GP8503 DAC module and ZS-X11H motor drivers, while wheel RPM feedback is acquired using rotary encoders. Experimental results show that the robot is capable of performing real-time differential-drive motion and successfully generating real-time wheel RPM feedback and odometry information. However, deviations of approximately 40–45% between target RPM and actual RPM were observed due to the absence of PID-based wheel speed correction, wheel slip, and mechanical load imbalance and motor nonlinearity. This research demonstrates the successful integration of ROS2 middleware with a simplified low-cost embedded robotic architecture as a foundation for future autonomous navigation and localization development.
Co-Authors Ivan Rivaldo Butarbutar Roni Permana Saputra