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Muhammad Syafaat
Politeknik Angkatan Darat
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Analisis Pergerakan Robot di Kota Otonom Robot Tempur Berbasis Internet of Things (IoT) Jeffri Kurniawan; Muhammad Syafaat; Fajar Kholid
Nucleus Journal Vol. 2 No. 2 (2023): November
Publisher : Universitas Darul Ulum

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32492/nucleus.v2i2.2204

Abstract

Prajurit TNI saat ini menghadapi perubahan tugas yang menarik dengan diperkenalkannya desain robot untuk melakukan pengintaian. Robot ini dirancang untuk memainkan peran penting dalam operasi perang, terutama dalam pengintaian musuh. Metode pengawasan konvensional seringkali mempunyai risiko tinggi, termasuk potensi hilangnya nyawa. Penelitian ini merupakan penelitian observasional analitik dengan tujuan untuk menganalisis 3 jenis mode sistem kendali robot yaitu jarak melalui berbagai lintasan yang telah ditentukan menggunakan pelacakan lintasan, nilai penerapan sensor IMU dengan robot otonom dalam gerakan akselerasi, serta sebagai nilai error yang terjadi pada sistem kendali. PID sumbu x dan y. Dalam upaya meningkatkan efisiensi dan keselamatan, robot ini dilengkapi dengan sensor rotary encoder untuk mencatat nilai X dan Y pada setiap putaran motor DC, memantau jalur pergerakan robot. Selain itu, robot ini dilengkapi dengan berbagai sensor antara lain sensor ultrasonik, Gyro MPU 6050, dan kecerdasan buatan untuk menghindari benturan dengan benda lain. Sensor IMU digunakan untuk mendeteksi dan memahami pergerakan robot melalui kombinasi akselerometer dan giroskop. Metode kendali PID diterapkan untuk mengatur putaran motor DC dengan kinematika terbalik. Dalam pengujiannya, robot diuji pada berbagai jalur, seperti persegi, segitiga sama kaki, dan lingkaran dengan rintangan. Hasil pengujian menunjukkan bahwa RPM pada tachometer dibandingkan dengan rotary encoder memiliki tingkat error sekitar 1,2. Mobile robot akan melakukan pengintaian sesuai jalur yang telah ditentukan. Omniwheel ini dapat bergerak dan berputar ke segala arah dengan lintasan datar sehingga memberikan akselerasi pada robot untuk bergerak secara efisien dengan persentase keberhasilan dalam pengujian pergerakan robot sebesar 89,31%. Dari hasil percobaan diperoleh rata-rata tingkat kesalahan sebesar 11% pada lintasan persegi, 15% pada lintasan lingkaran, dan 4,17% pada lintasan segitiga. Kestabilan maksimum kecepatan putaran motor pada robot Omni terdapat pada jalur segitiga.
Exploration of Control Systems for Autonomous City Combat Robots Based on the Internet of Things (IoT) from a Military Perspective Jeffri Kurniawan; Muhammad Syafaat; Fajar Kholid
Jurnal FORTECH Vol. 7 No. 1 (2026): Jurnal FORTECH
Publisher : FORTEI (Forum Pendidikan Tinggi Teknik Elektro Indonesia)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56795/fortech.v7i1.7107

Abstract

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.
Exploration of Control Systems for Autonomous City Combat Robots Based on the Internet of Things (IoT) from a Military Perspective Jeffri Kurniawan; Muhammad Syafaat; Fajar Kholid
Jurnal FORTECH Vol. 7 No. 1 (2026): Jurnal FORTECH
Publisher : FORTEI (Forum Pendidikan Tinggi Teknik Elektro Indonesia)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56795/fortech.v7i1.7107

Abstract

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.
Co-Authors Fajar Kholid Jeffri Kurniawan Jeffri Kurniawan