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RANCANG BANGUN DAN ANALISIS KINERJA SISTEM KENDALI NAVIGASI ROBOT VACUUM CLEANER

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Autonomous vacuum cleaner robots have been developed to improve the efficiency of automatic floor cleaning. This study focuses on the design and performance analysis of a navigation control system for a vacuum cleaner robot using a zig-zag motion pattern combined with a Proportional Integral Derivative (PID) control system. The objectives of this research are to design a vacuum cleaner robot prototype based on an Arduino Mega 2560 microcontroller, implement zig-zag navigation using an Inertial Measurement Unit (IMU) sensor, and analyze the control system performance in maintaining directional stability and obstacle avoidance. The research was conducted experimentally by developing a robot equipped with two DC drive motors and one caster wheel. Ultrasonic and infrared sensors were used for obstacle detection. Experiments were carried out on a 2 × 2 meter test track, including basic motion testing, zig-zag navigation without obstacles, and zig-zag navigation with obstacles. The evaluated parameters include travel time, actual travel distance, and orientation angle (yaw) obtained from the IMU sensor. The results show that the PID control system is able to maintain the robot’s directional stability with relatively small angular deviations, allowing the zig-zag motion pattern to be consistently maintained. The robot successfully covered the test area systematically and avoided obstacles. In addition, light debris pickup testing using tissue pieces achieved a collection efficiency of 70–80%. These findings indicate that zig-zag navigation combined with PID control is effective in improving path regularity and motion stability of the vacuum cleaner robot.

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Detail Information

Series Title

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Call Number

T1905942025

Publisher

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

Collation

xxvii, 87 hlm.; ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

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Classification

629.892 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Elektro
Robot Vacuum Cleaner

Specific Detail Info

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Statement of Responsibility

KA

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