Kendali Heading pada Trajectory Tracking Miniatur Robot Mobil
https://doi.org/10.22146/juliet.v1i2.59347 Farid Hasan(1), Budi Bayu Murti(2), Fahmizal .(3*), Muhammad Arrofiq(4)
(1) Department of Electrical Engineering and Informatics, Vocational College Universitas Gadjah Mada
(2) Department of Electrical Engineering and Informatics, Vocational College Universitas Gadjah Mada
(3) Department of Electrical Engineering and Informatics, Vocational College Universitas Gadjah Mada
(4) Department of Electrical Engineering and Informatics, Vocational College Universitas Gadjah Mada
(*) Corresponding Author
Abstract
Abstract – This paper presents heading controls on trajectory tracking using compass sensors and global positioning sensors (GPS) on miniature robot cars. The problem that arises when the miniature robot car follows the track is the slip on the wheels. Therefore it raises heading errors that can be obtained from the compass sensor and GPS. To minimize the problems that occur, the proportional integral derivative control (PID) is applied to control the miniature headings of car robots by using the Ziegler Nichols 2nd method. In the process of finding the parameters of the PID control obtained with the results Kp = 0.6; Ti = 2.5; and Td = 0.625. Furthermore, the application of the Haversine method is used to calculate the shortest distance between two points during the process of reading the position from GPS. From the test results obtained that the PID control and Haversine method are able to make the movement of a miniature robot car successfully following the test trajectory.
Keywords: Heading Control, Trajectory Tracking, Compass Sensor, GPS.
Intisari – Makalah ini menyajikan kendali heading pada trajectory tracking menggunakan sensor kompas dan global positioning sensor (GPS) pada miniatur robot mobil. Permasalahan yang timbul ketika miniatur robot mobil mengikuti lintasan ialah terjadinya slip pada roda. Oleh sebab itu menimbulkan kesalahan heading yang dapat diperoleh dari sensor kompas dan pembacaan posisi dari GPS pada miniatur robot mobil tersebut. Untuk meminimalisir permasalahan yang terjadi, kendali proporsional integral derivatif (PID) diterapkan untuk mengendalikan heading miniatur robot mobil dengan menggunakan metode ke-2 Ziegler Nichols. Dalam proses pencarian parameter dari kendali PID ini diperoleh dengan hasil Kp=0.6; Ti=2.5; dan Td=0.625. Selanjutnya, penerapan metode Haversine digunakan untuk menghitung jarak terpendek antara dua titik lintasan saat proses pembacaan posisi dari GPS. Dari hasil pengujian diperoleh bahwa kendali PID dan metode Haversine mampu membuat pergerakan miniatur robot mobil sukses mengikuti lintasan uji.
Kata kunci: Kendali Heading, Trajectory Tracking, Kendali PID, Sensor Kompas, GPS.
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DOI: https://doi.org/10.22146/juliet.v1i2.59347
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SINTA 4 accredited based on Decree of the Minister of Research, Technology and Higher Education, Republic of Indonesia Number 225/E/KPT/2022, Vol. 2 No. 1 (2020) - Vol. 6 No. 1 (2025)
e-ISSN: 2746-2536