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All Journal KUKILA Jurnal ULTIMA Computing Infotekmesin E-JOINT (Electronica and Electrical Journal Of Innovation Technology)
Imam Taufiqurrahman
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering Other

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Implementation of Trajectory Tracking on Mobile Robot Differential Drive Imam Taufiqurrahman; Sujarwanto, Eko; Andri Ulus Rahayu; Mira Riski Aldiani; Sayyid Qhutub Abdul Hakim
ULTIMA Computing Vol 17 No 2 (2025): Ultima Computing: Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v17i2.4413

Abstract

Abstract—This study discusses the implementation of trajectory tracking on a differential drive mobile robot using the odometry method. The system was designed by utilizing rotary encoders to estimate the robot’s position and a proportional controller to regulate movement toward the target point. Experiments were carried out on multi-point trajectories, namely three-way and four-way paths, under two different surface conditions: flat and textured fields. The results showed that the robot was able to follow the predetermined path with a relatively high level of accuracy, especially on flat surfaces. However, on textured paths, the accuracy decreased due to wheel slip and disturbances in encoder readings. The comparison between both conditions emphasizes that surface characteristics have a significant influence on the performance of odometry-based trajectory tracking. Keyword — Mobile robot, differential drive, odometry, trajectory tracking, proportional control
Co-Authors Andri Ulus Rahayu Asep andang Bas van Balen Colin Trainor Dwi A Sujatmiko Eko Sujarwanto Ervan Paryono Farida Isroani Mira Riski Aldiani Moch Yuagga Permana Muhammad A Utomo Nundang Busaeri Ramdani R Sayyid Qhutub Abdul Hakim Sofia Nurul Fajri