PERANCANGAN SISTEM KENDALI PENGHINDAR RINTANGAN PADA ROBOT HUMANOID MENGGUNAKAN PENGENDALI PID DAN SENSOR LIDAR

KURNIAWAN, MUHAMMAD ARIF and Husin, Zaenal (2023) PERANCANGAN SISTEM KENDALI PENGHINDAR RINTANGAN PADA ROBOT HUMANOID MENGGUNAKAN PENGENDALI PID DAN SENSOR LIDAR. Undergraduate thesis, Sriwijaya University.

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Abstract

Humanoid robots are one type of robot being developed currently that has the ability to imitate humans, and one of them is the ability to avoid objects when moving so that they can walk properly without hitting anything. So, an obstacle avoidance system for humanoid robots is needed. Therefore, in this research an obstacle avoidance system was developed which was carried out on a prototype. In this research, the obstacle avoidance system applied to the prototype uses a PID controller using the trial and error method. This research also uses the LIDAR A1 sensor, which has a role in identifying surrounding objects and the maximum reading distance can reach 12 meters. The LIDAR A1 sensor is capable of reading objects within a 360° range, which means it is able to detect objects from all sides and this helps the robot to determine whether there is an object or not along the robot's path. The results obtained from testing the distance shown by LIDAR A1 and the actual distance to the object can be categorized as good because the error obtained is relatively small, namely only 3.2%. The results of this research show that PID has good results so that it can be used as a controller in obstacle avoidance systems, proven by several tests when the robot is given an obstacle whose position is changed on each track with values of Kp = 4, Ki = 0.002 and Kd = 10 showing that the robot is capable of avoid obstacles with a small error value. The robot was unable to avoid obstacles twice on obstacle 3 on track C. When compared with a total of 150 obstacles, these two failures indicate that the robot was able to avoid obstacles 148 times.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Humanoid Robot, LIDAR, PID, Sistem Penghindar Rintangan
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Muhammad Arif Kurniawan
Date Deposited:	29 Jan 2024 06:29
Last Modified:	29 Jan 2024 06:29
URI:	http://repository.unsri.ac.id/id/eprint/140256

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