Proportional Control Design on Mobile Robot for Leader-Follower Formation Using ZigBee Wireless Communication Module
Proportional Control Design on Mobile Robot for Leader-Follower Formation Using ZigBee Wireless Communication Module
Author : MUHAMAD MAULANA RISWANDHA; SUWANDI; AHMAD QURTHOBI; ABRAR Published on : Conference Fee 1st ICMA (International Conference on Multidiciplinary Academic)
Abstract
“Nowadays the development of technology is heading to industrial automation in many things, one of them is robotic. Robot is an alternative solution behind the limitation of human ability to do their activity continuously. One of interesting thing in robotic is leader-follower concept. The leader-follower concept is a thing that is tried to be implemented in robot to adapt human habit. Leader-follower is a simple concept that placed one of the robot acts to give command to another robot. In order to get good respon and small error from the system for the mobile robot, it needs controller that can organize the velocity of robot depend on the differences of distance and angle. PID is choosen as controller on mobile robot system because of it capability to produce fast response. In this paper, control system of mobile robot is not embedded in the robot but located in station ground. In order to build the communication, Zigbee is used for transferring data from robot to ground station or ground station to robot. The challenge is how to integrate control system, measurement and communications in a short time. Both leader and follower only execute Pulse Width Modulation that they got from ground station, and then PWM is used to rotate DC motor. The test is done by given three initial condition, the first initial condition is Straight, second is tilted to the right, and third is tilted to the left. The overall results of the three tests then processed in order to determine how far follower deviates from the leader. Formation that formed between leader and follower robot is in line formation or in other words, if the robot moves along the Y axis to determine the deviation of follower to leader, it can be seen from the error position x from follower. Based on measurement, the best response of the system is shown by proportional gain with the value of 1.5048. The error position x result of the proportional gain are 1.22% for initial conditions ???straight???, 2.38% for initial condition ???Tilted to the Right??? and 2.26% for initial condition ???Tilted to the Left???.
Keywords: Mobile Robot, Leader-Follower, PID Controller, Zigbee”
