DESIGN AND CONTROL SYSTEM OF MOBILE ROBOT PROTOTYPE WITH MIDDLEWARE IMPLEMENTATION USING ROBOT OPERATING SYSTEM (ROS) FOR VOLCANO MONITORING IN INDONESIA

• Main Author: Zakiyyatuddin, Azka
• Format: Final Project
• Language: Indonesia
• Subjects: Fisika
• Online Access: https://digilib.itb.ac.id/gdl/view/41350
• Institution: Institut Teknologi Bandung

Indonesia is one of the countries that lies in the pacific ring of fire, the highlighted area that known to be active by seismic and volcano activities. Indonesia has a total of 129 active volcanoes that make the land fertile, but also vulnerable to disaster. When a volcanic eruption occurs, the current fixed monitoring system is not fully reliable. On the other hand, monitoring of further volcano activities is critically needed in this situation Therefore, a volcano monitoring system that can move freely and controlled safely is needed. To solve this problem, a mobile robot that capable of moving in volcano area has been developed. The robot locomotion system is designed with 2 DC using 4-wheel drive configuration. Each motor implements a PID Controller to adjust the speed that has been set by simulation in MATLAB®. In addition, the robot is also equipped with a camera and sensors to retrieve volcanic condition data, as its function for volcano monitoring. The microcontroller used to adjust motor control and read sensors’s data is Nucleo STM32-F466RE, while the mini-PC that being used for integrated data communication and processing is Raspberry PI 3B. The middleware used for controlling the robot and monitor sensors’s data are made using Robot Operating System (ROS). The User Interface is shown by ubuntu terminal. PID Controller has been successfully applied with average error of 2.5% for the left motor, and 2.75% for the right motor. The mobile robot can be controlled wirelessly with a maximal distance of 75m from its controller. It has been tested quite good for it to be able to move in kawah ratu of tangkuban parahu mountain. The area is having a slope of 11.37o and friction coefficient of 0.01996 and the robot only has 6,44% of speed error on the field. The robot can also avoid obstacle of 1m in front of it, and it also has battery that can sustain quite long to maintain robot movements (3 hours 22 minutes).