FIRMWARE AND HARDWARE DESIGN AND IMPLEMENTATION OF LINE FOLLOWER ROBOT WITH COMPASS CALIBRATOR AND LOCALIZATION USING RFID FOR LABYRINTH NAVIGATION
ABSTRACT Firmware and Hardware Design and Implementation of Line Follower Robot with Compass Calibrator and Localization using RFID for Labyrinth Navigation By Muhammad Adnan NIM: 13218019 (Bachelor????s Program in Electrical Engineering) The navigation problem in the maze is a problem tha...
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Format: | Final Project |
Language: | Indonesia |
Online Access: | https://digilib.itb.ac.id/gdl/view/66446 |
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Institution: | Institut Teknologi Bandung |
Language: | Indonesia |
Summary: | ABSTRACT
Firmware and Hardware Design and Implementation of Line
Follower Robot with Compass Calibrator and Localization using
RFID for Labyrinth Navigation
By
Muhammad Adnan
NIM: 13218019
(Bachelor????s Program in Electrical Engineering)
The navigation problem in the maze is a problem that is often used as an example
to test the shortest route algorithm. In this case, one wants to show that the
algorithm used is able to solve the shortest-path problem. There have been many
algorithms proposed to solve this problem. One of the algorithms that can be used
to solve this problem is to use Q-Learning, which is a type of algorithm from
Reinforcement Learning (RL). As a part of Machine Learning, RL is able to conduct
learning based on trials. If in the experiment, the object conducting the experiment
or called the Agent performs an action or action that does not bring the Agent closer
to the goal, then the Agent will receive punishment. On the other hand, when the
Agent takes a step that brings him closer to the goal, the Agent gets a reward. Thus,
as the experiment is carried out by the Agent, the Agent will go towards
convergence, namely knowing the best course of action that can be taken to solve a
particular case. However, often the system is only in the form of a software model
and not until the Hardware implementation. For that we need a system that can
represent these problems on Hardware. In this implementation, the Agent
representation will be done using a Line Follower robot. Line Follower robot is a
type of robot that moves by following a line on the floor. The line will be read by
an infrared sensor that is able to distinguish between dark and light. To make the
robot walk smoother, an additional sensor input, namely a compass sensor, will be
used to support movement control. During the movement, the robot needs to know
its position against the testing arena or known as localization. For that, the robot
is equipped with an RFID sensor. The test floor has an RFID marker inserted in
each state so that when the robot enters a state, the robot can recognize its current
position. Tests will be carried out to prove the performance of the Line Follower
robot. The robot will be used to test the learning outcomes that have converged so
that it shows the fastest way from one point to another in the testing arena.
Keywords: Navigtioni, Shortest-path, Line Follower, Compass, RFID. |
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