“…The robot will turn right when the US1 sensor value is less than 15 cm and the US2 sensor is further than 15 cm, the robot will turn left when the US1 and US2 sensors are smaller than 15 cm (Washabaugh et al, 2017;Li et al, 2010). The picture above is an illustration of the position of obstacles in the form of 4 walls in the entire area around the robot (Abdulridha & Jasem, 2017; Arif & Kurniawan, 2013;Wijayanto et al, 2020). The US1 ultrasonic sensor is placed on the front of the robot body, the US2 ultrasonic is between the US1 ultrasonic sensor and the US4 sensor, the US3 sensor is between the US1 sensor and the US5 sensor, and the US4 sensor is the sensor on the left of the robot body, the US5 sensor is on the right side of the robot body, the sensor The US6 sensor is located between the left side sensor and the back sensor of the robot, the US7 sensor is between the right side sensor and the rear sensor, and the ultrasonic sensor US8 is placed on the back of the robot body (Yang et al, 2012;Chen & Gong, 2017).…”