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All Journal Jurnal Keperawatan Soedirman (The Soedirman Journal of Nursing) MEDISAINS Mutiara Medika: Jurnal Kedokteran dan Kesehatan Emerging Science Journal Journal Of Nursing Practice Jurnal Kesehatan Medika Saintika Jurnal Ilmiah Kebidanan Indonesia (Indonesian Midwifery Scientific Journal) Jurnal Kesehatan Karya Husada Jurnal Keperawatan (JKEP) Jurnal Aisyah : Jurnal Ilmu Kesehatan EDUNursing JOSING: Journal of Nursing and Health Universitas Muhammadiyah Yogyakarta Undergraduate Conference Proceeding Journal Of World Science Dinamika Kesehatan: Jurnal Kebidanan dan Keperawatan Jurnal Keperawatan Soedirman (The Soedirman Journal of Nursing) JOURNAL OF Qualitative Health Research & Case Studies Reports Folia Medica Indonesiana
Arofiati, Fitri
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PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot Iswanto, .; Ma'arif, Alfian; Maharani Raharja, Nia; Supangkat, Gatot; Arofiati, Fitri; Sekhar, Ravi; Uddin Rijalusalam, Dhiya
Emerging Science Journal Vol. 5 (2021): Special Issue "COVID-19: Emerging Research"
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/esj-2021-SPER-13

Abstract

Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF
Co-Authors Abdul Aziz Alfian Ma’arif Amalia, Yuvia Dewi Ambar Relawati, Ambar Anifan, Muhammad Nur Arifatul Diktina, Amalia azizah khoiriyati Azizah, Ayu Nur Baso, Yusriani Saleh Candra candra Dahyanto, Dahyanto Fitri Haryanti Hidayati, Novia Tri Hilalriah, Annisa Indah Susanti Iswanto, . juraidah, juraidah Kitong, Berti Irwin Kurniasih, Ami Maharani Raharja, Nia Muhammad Hadi Muhammad Imron Rosadi Nurmansyah Nurmansyah, Nurmansyah Nursalam Nursalam Nursanti, Irna Permana, Daffa Mohammad Prabawati, Dewi Primadani, Miranti Purnamawati, Ditha Astuti Purwati, Nyimas Heny Putri, Intan Putri, Refisyah Rosyida, Farah Nabila Ruhyana, Ruhyana Rumila, Erna Sakinah, Isnina Noor Sari, Cindy Amalia Sasteri Yuliyanti Sekhar, Ravi Setyaningsih, Fitaluviana Supangkat, Gatot susanti, afrinia nanda Tintin Sukartini Sukartini, Tintin Sukartini Tuti Nuraini Uddin Rijalusalam, Dhiya Wahyu Hidayati Warno, Puspito Wati, Nurma Widagdo, Giri Yanny Trisyani