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RANCANG BANGUN DAN ANALISIS SISTEM KENDALI ODOMETRY UNTUK MOBILE ROBOT OTONOM PEMBAWA BARANG

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The growing demand for automation systems in the industrial and logistics sectors forms the basis of this research, particularly in material handling processes that are predominantly performed manually and exhibit several limitations, such as dependence on human labor, risk of occupational injury, and low efficiency in time and accuracy. The development of an Autonomous Mobile Robot (AMR) based on an odometry control system is carried out as a solution to these issues, enabling autonomous movement supported by sensors and navigation algorithms. The design and analysis of the odometry control system are intended to ensure that the goods-carrying robot can follow the predetermined path and reach the target with stability and precision. The research method starts from mechanical design using SolidWorks, then continues with the assembly of the main components in the form of Arduino Mega, JGA25-370 DC motor with Encoder, MPU-6050 sensor, infrared obstacle avoidance sensor, and L298N motor driver. The system is controlled by a PID algorithm implemented through the Arduino IDE, while testing is carried out on flat tracks, uneven tracks, loaded conditions, and with obstacles. The results show that the system is able to maintain the direction of motion with a maximum position error of 40.78 mm and an orientation error of 4.71° on a flat track without a load. At a load of 1143 grams, the position error increased to 119.92 mm with an orientation error of 8.67°, while on an uneven track the maximum error was 149.03 mm with an orientation error of 15.03°.

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Detail Information

Series Title

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Call Number

T1859032025

Publisher

Indralaya : Prodi Teknik Mesin, Fakultas Teknik Universitas Sriwijaya., 2025

Collation

xxvii, 136 hlm.; ilus.; tab.; 29 cm.

Language

Indonesia

ISBN/ISSN

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Classification

629.807

Content Type

Text

Media Type

unmediated

Carrier Type

other (computer)

Edition

-

Subject(s)

Mobile robot otomatis
Prodi Teknik Mesin

Specific Detail Info

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Statement of Responsibility

MI

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