IMPLEMENTATION OF BASE SUBSYSTEM ON DEVELOPMENT PLATFORM ROBOT SMART CITY

• Main Author: - Nim: 13215601, Rahmadiana
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/30129
• Institution: Institut Teknologi Bandung

<p align="justify">Development Smart City Robot Platform is a robot development that is used as a security assistant robot. This robot can be used to patrol and follow suspicious objects in its work area. When the robot is in operation, the robot is expected to perform obstacle avoidance and return to its working path. In the implementation, the robot uses three omnidirectional wheels driven by a DC motor. Omnidirectional is chosen so that the robot can move in any direction. Obstacle avoidance function uses three ultrasonic sensors and will test the ability of the sensor in detecting the surrounding objects. Tests conducted among others is the object distance reading, field of view and sensor limitation angle. DC motors used as drive systems require a speed control to compensate for errors due to motor speed differences. Compensation is done by designing PID control. First, PID control is done by reading the initial speed of each motor. Then do the determination of motor transfer function which will then be used to perform parameter tuning PID. PID control applied in the form of proportional control is obtained by using manual tuning. With this speed control, the robot is able to move to a certain position properly. Further implementation of this subsystem will be integrated with other subsystems on the robot platform.<p align="justify">