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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Rekayasa elektrika
Afrizal Mayub
Graduate School of Science Education, Universitas Bengkulu
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot Esa Apriaskar; Fahmizal Fahmizal; Ika Cahyani; Afrizal Mayub
Jurnal Rekayasa Elektrika Vol 16, No 1 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1501.698 KB) | DOI: 10.17529/jre.v16i1.15081

Abstract

This article describes the design and implementation of behavior-based robotic (BBR) algorithm on a wheeled mobile robot (WMR) Pioneer P3-DX in a maze exploration mission using V-REP simulator. This robot must trace and search for targets placed randomly on a labyrinth. After successfully meeting the objective, robot runs back to home position using the nearest path. Robot navigation system applies BBR algorithm to reach the target using behavior modules which work simultaneously to obtain the desired robot’s trajectory. The most fundamental behavior which is highly affordable to build on the robot system is a wall-following behavior. To make the robot could follow the wall in a safe, smooth and responsive condition, proportional-integral-derivative (PID) controller is applied. PID controller runs by utilizing the reading of sixteen proximity sensors carried on Pioneer P3-DX robot toward the expected wall distance while the robot is exploring the labyrinth. To ensure the designed system works properly, several tests were conducted, including BBR test and PID controller test. BBR test shows that the system can choose the shortest track when returning to home position. The PID controller test produces robot movement with maximum deviation and settling time for about 0.013 m and 30 seconds, respectively.
Autonomous Mobile Robot based on BehaviourBased Robotic using V-REP Simulator–Pioneer P3-DX Robot Esa Apriaskar; Fahmizal Fahmizal; Ika Cahyani; Afrizal Mayub
Jurnal Rekayasa Elektrika Vol 16, No 1 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v16i1.15081

Abstract

This article describes the design and implementation of behavior-based robotic (BBR) algorithm on a wheeled mobile robot (WMR) Pioneer P3-DX in a maze exploration mission using V-REP simulator. This robot must trace and search for targets placed randomly on a labyrinth. After successfully meeting the objective, robot runs back to home position using the nearest path. Robot navigation system applies BBR algorithm to reach the target using behavior modules which work simultaneously to obtain the desired robot’s trajectory. The most fundamental behavior which is highly affordable to build on the robot system is a wall-following behavior. To make the robot could follow the wall in a safe, smooth and responsive condition, proportional-integral-derivative (PID) controller is applied. PID controller runs by utilizing the reading of sixteen proximity sensors carried on Pioneer P3-DX robot toward the expected wall distance while the robot is exploring the labyrinth. To ensure the designed system works properly, several tests were conducted, including BBR test and PID controller test. BBR test shows that the system can choose the shortest track when returning to home position. The PID controller test produces robot movement with maximum deviation and settling time for about 0.013 m and 30 seconds, respectively.
Control and Navigation of Differential Drive Mobile Robot with PID and Hector SLAM: Simulation and Implementation Fahmizal Fahmizal; Matthew Sebastian Pratikno; Hidayat Nur Isnianto; Afrizal Mayub; Hari Maghfiroh; Pinto Anugrah
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 3 (2024): September
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i3.29428

Abstract

Navigation technology is essential in fields like transportation and logistics, where precise mapping and localization are critical. Simultaneous Localization and Mapping (SLAM) technologies, such as Hector SLAM, enable robots to map environments by detecting and predicting object locations using sensors like LiDAR. Unlike other SLAM methods, Hector SLAM operates without odometry, relying solely on LiDAR data to produce accurate maps. This study investigates the application of Hector SLAM in a differential drive mobile robot controlled via the Robot Operating System (ROS), with PID control managing the motor speeds. The research contribution is the integration of Hector SLAM with PID control to enhance mapping accuracy in environments without odometry data. The method involves testing the robot's mapping performance in an indoor environment, focusing on the impact of varying linear and angular velocities on the quality of the generated maps. The PID control was tuned to ensure stable speed values for the robot's differential drive motors. Results show that Hector SLAM, when combined with well-tuned PID control, generates highly accurate maps that closely match the actual environment dimensions, with minimal errors. Specifically, the mapping error was found to be within 0.10 meters, validating the effectiveness of this approach in non-odometric systems. In conclusion, the study demonstrates that Hector SLAM, supported by PID-controlled motor stability, is an effective solution for mapping in differential drive mobile robots, particularly in scenarios where odometry is unavailable.
Co-Authors Esa Apriaskar Fahmizal Fahmizal Hari Maghfiroh Hidayat Nur Isnianto Ika Cahyani Matthew Sebastian Pratikno Pinto Anugrah