Trajectory Tracking pada Robot Omni dengan Metode Odometry

Abstract

This paper presents trajectory tracking on omni robots using odometry method. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate changes in position over time. The rotary encoder sensor is used to count the movement of the omni robot at the x and y coordinates in the odometry calculation process in this study. Furthermore, using the reverse kinematics on the omni robot, the rotational speed value of each DC motor in the omni robot wheel is obtained. In addition, to obtain the results of a good robot movement on the odometry system, PID control is applied to control the rotational speed of each DC motor on the omni robot wheel. With reverse kinematics and odometry systems, omni robot trajectory designs can be easily built. To test the odometry method performance in trajectory tracking process, there are three types of trajectory testing patterns, namely rectangles, equilateral triangles, and equilateral triangles. From the results of this test, the error value obtained is below 5%. Intisari-Makalah ini memaparkan trajectrory tracking pada robot omni dengan metode odometry. Sistem odometry bertujuan untuk memperkirakan posisi relatif terhadap posisi awal robot omni untuk memperkirakan perubahan posisi dari waktu ke waktu. Sensor rotary encoder digunakan untuk mencacah pergerakan robot omni pada koordinat x dan y pada proses perhitungan odometry. Selanjutnya, dengan menggunakan kinematika balik pada robot omni, nilai kecepatan putar masingmasing motor DC pada roda robot omni diperoleh. Selain itu, untuk memperoleh hasil pergerakan robot yang baik pada sistem odometry, kendali PID diterapkan untuk mengendalikan kecepatan putar masing-masing motor DC pada roda robot omni. Dengan kinematika balik dan sistem odometry, desain trajectory robot omni dapat dengan mudah dibangun. Untuk menguji kinerja metode odometry dalam melakukan proses trajectory tracking, terdapat tiga jenis pola pengujian trajectory, yaitu persegi panjang, segitiga sama sisi, dan segitiga sama kaki. Dari hasil pengujian ini, diperoleh nilai kesalahan di bawah 5%.

Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

“…Robot juga dapat dikatakan mampu mencapai berbagai arah tanpa batas seperti beralih ke arah yang diinginkan [3]. Robot konvensional seperti Differential steering dan Ackerman steering yang memiliki mobilitas rendah, karena hanya dapat bergerak kembali, maju dan berbelok, namun tidak dapat bergerak ke segala arah atau non-holonomic [4][5] [6]. Oleh karena itu, penulis mengembangkan sebuah robot yang dapat bergerak ke segala arah di bidang − Cartesian tanpa harus berbalik dan jenis robot ini disebut.…”

Embedded Control System of DC Motor Using Microcontroller Arduino and PID Algorithm

“…DC motors have many applications in the field of robotics [1][2] [3] and industrial applications [4][5] [6]. Some examples of implementation are tracking systems for the direction of the sun [7], balance robot [8] [9], line follower robot [10] [11], line maze robot [12] [13], Quadrotor [14] [15], temperature control [16], Omni Robot [17] etc. DC motors are very popular because they are easy to learn, easy to control, and have good performance.…”

Mapping and Positioning System on Omnidirectional Robot Using Simultaneous Localization and Mapping (Slam) Method Based on Lidar

“…So that some robot developers often combine two or more categories of combining the two groups [2]. In studies the most commonly used categories are odometry [9][10][11][12][13], inertial measurement [7][8], magnetic compass [7][8], and map matching [23][24][25][26][27][28][29][30][31].…”

“…Omnidirectional robot is a type of mobile robot that can move in any direction without changing the orientation of the robot, with the wheels used are omni wheels. Therefore, odometry calculations refer to the omnidirectional robot kinematics depending on the number of wheels and the type of omni wheel used in the robot [9][10][11][12][13]. Meanwhile, the method of Inertial Measurement and magnetic compass can be said to have the same characteristics because there are so many integrated circuits (IC) of the Inertial Measurement Unit (IMU) sensor, there are two components of the method, namely Accelerometer, Gyroscope, and Magnetometer [6][7][8].…”