<![CDATA[TNI soldiers are currently facing an interesting change in tasks with the introduction of robot designs for carrying out reconnaissance. This robot is designed to play a key role in war operations, especially in enemy reconnaissance. Conventional surveillance methods often carry high risks, including the potential loss of life. This research is analytical observational research with the aim of analyzing 3 types of robot control system modes, namely the distance through various trajectories that have been determined using trajectory tracking, the application value of the IMU sensor with an autonomous robot in acceleration movement, as well as the error value that occurs in the control system. PID of the x and y axes. In an effort to increase efficiency and safety, this robot is equipped with rotary encoder sensors to record the X and Y values at each DC motor rotation, monitoring the robot's movement path. In addition, this robot is equipped with various sensors, including ultrasonic sensors, the Gyro MPU 6050, and artificial intelligence to avoid collisions with other objects. IMU sensors are used to detect and understand robot movements through a combination of accelerometers and gyroscopes. The PID control method is applied to regulate the rotation of a DC motor with reverse kinematics. In testing, the robot was tested on various paths, such as a square, an isosceles triangle, and a circle with obstacles. The test results show that the RPM on the tachometer, compared to the rotary encoder, has an error rate of around 1.2. The mobile robot will carry out reconnaissance according to a predetermined path. This omniwheel can move and rotate in all directions with a flat trajectory, providing acceleration for the robot to move efficiently with a success percentage in testing the robot's movement of 89.31%. From the experimental results, an average error rate of 11% on a square track, 15% on a circle track, and 4.17% on a triangle track was obtained. The maximum stability of the rotational speed of the motor on the Omni robot is found on the triangular path.]]>
