Implementasi Multi-Mikrokontroller pada Mobile Robot sebagai Pengendali Kecepatan dengan Kendali PID

Abstract

Mobile robot navigation system with wall follower method as the motion reference, using
ultrasonic sensors in tracking rooms and avoid obstacles / hindrances. The number of ultrasonic
sensors are used, can facilitate the robot navigation. PID control is used to control the motor speed
mobile robot. Rotary encoder is a sensor that can be used to calculate the rotational speed of the
actuator (dc motors).
Microcontroller as the main control has the workload to perform distance calculations
(ultrasonic sensor) at the same speed calculation actuators / motors (rotary encoder). The calculation
process in real-time and continuous. Application of multi-microcontroller applied to reduce the
workload of the main microcontroller / Master. Slave microcontroller is used for the implementation
of PID control.
Motor rotational speed by measuring the duty cycle motors pulse are less effective, it can be
seen from the values of speed on each trial setting point analog PWM. Motor speed conversion can
use another method such as a frequency-to-voltage conversion and use a voltage analog to digital
converter (ADC) to get the present value (PV), so the data 8-bit digital-to-analog converter (DAC)
directly compared with the 8-bit data analog to digital converter (ADC).