Sistem Distribusi Data Kontrol Pada Differential Drive Mobile Robot Menggunakan Robot Operating System
DOI:
https://doi.org/10.33379/metrotech.v1i3.1803Kata Kunci:
DDMR, I2C, rosserial, distribusi data, mikrokontrolerAbstrak
Pada umumnya mikrokontroler untuk menggerakkan sistem robot hanya menggunakan satu buah saja. Hal ini dapat mengakibatkan berlebihnya beban yang diterima oleh mikrokontroler. Kelebihan beban pada mikrokontroler mengakibatkan tidak akuratnya waktu sampling yang digunakan pada sistem robot tersebut dan dapat berujung pada error atau hank pada robot. Untuk mengurangi terjadinya error, maka diujicobakan sistem multikontroler pada robot Differential Drive(DDMR). Sistem distribusi data antar kontroler memanfaatkan protokol komunikasi serial I2C, dan komunikasi antara kontroler dengan mini komputer menggunakan protokol rosserial yang disediakan oleh Robot Operating System (ROS). Hasil yang didapatkan untuk melakukan distribusi data dengan serial I2C membutuhkan waktu sebesar 1.4 ms, sedangkan untuk melakukan komunikasi ketiga slave dibutuhkan waktu sebesar 4.18 ms, dengan waktu untuk saling berkomunikasi antara master dan slave didapatkan sebesar 8.36 ms. Untuk distribusi dengan rosserial dibutuhkan sebesar 4.7 ms. Sehingga total waktu untuk distribusi data sebesar 13.06 ms. Pengujian juga dilakukan ketika robot menjalankan algoritma lain yang dibutuhkan, dan menghasilkan rata - rata waktu sampling sebesar 63.5 ms. Hasil tersebut menunjukkan bahwa penggunaan sistem multi kontroler dengan distribusi data menggunakan Serial I2C dan rosserial dapat berjalan secara optimal, karena waktu sampling yang dibutuhkan masih lebih cepat dari 80 ms.
Referensi
J. Zhang, R. Liu, K. Yin, Z. Wang, M. Gui and S. Chen, "Intelligent Collaborative Localization Among Air-Ground Robots for Industrial Environment Perception," IEEE Transactions on Industrial Electronics, vol. 66, pp. 9673-9681, 2019.
X. Bai, L. Dong, L. Ge, H. Xu, J. Zhang and J. Yan, "Robust Localization of Mobile Robot in Industrial Environments With Non-Line-of-Sight Situation," IEEE Access, vol. 8, pp. 22537-22545, 2020.
I. Siradjuddin, I. M. Fitriani, R. A. Asmara, M. Junus, T. S. Patma, G. A. Azhar and H. Setiawan, "A study of a discrete Bayes and a Kalman filter computational Complexity and performance in the case of 1D robot localization," Journal of Physics: Conference Series, vol. 1402, p. 044026, 12 2019.
M. Cui, "Observer-Based Adaptive Tracking Control of Wheeled Mobile Robots With Unknown Slipping Parameters," IEEE Access, vol. 7, pp. 169646-169655, 2019.
T. Shu, S. Gharaaty, W. Xie, A. Joubair and I. A. Bonev, "Dynamic Path Tracking of Industrial Robots With High Accuracy Using Photogrammetry Sensor," IEEE/ASME Transactions on Mechatronics, vol. 23, pp. 1159-1170, 2018.
W. Budiharto, V. Andreas, J. S. Suroso, A. A. S. Gunawan and E. Irwansyah, "Development of Tank-Based Military Robot and Object Tracker," in 2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2019.
H. Dong, C.-Y. Weng, C. Guo, H. Yu and I.-M. Chen, "Real-Time Avoidance Strategy of Dynamic Obstacles via Half Model-Free Detection and Tracking With 2D Lidar for Mobile Robots," IEEE/ASME Transactions on Mechatronics, vol. 26, pp. 2215-2225, 2021.
I. Siradjuddin, G. A. Azhar, C. Rahmad, F. Rohman, I. M. Fitriani, E. R. K. Pradani, E. Rohadi, F. Ronilaya and R. A. Asmara, "A Non-Iterative Solution for Rigid Body Transformation Estimation," in 2018 International Conference on Applied Science and Technology (iCAST), 2018.
I. Siradjuddin, G. A. Azhar, A. Murdani and M. L. M. Faizin, "Desain dan pemodelan kontrol kinematik pergerakan robot beroda dengan menggunakan 6 roda omni-wheels," Jurnal Eltek, vol. 18, pp. 116-127, 2020.
Z. Dan, Z. Jisheng, H. Guohua and Y. Jie, "Navigation stabilization technology of mobile robot based on compass and gyro," in 2009 Chinese Control and Decision Conference, 2009.
I. Siradjuddin, T. Winarno, M. Khairuddin, M. N. Achmadiah, R. P. Wicaksono and G. Al Azhar, "An Exponential Decreased Kinematic and PID Low Level Control Schemes for an Omni-Wheeled Mobile Robot," in 2021 International Conference on Electrical and Information Technology (IEIT), 2021.
I. Siradjuddin, G. Azhar, S. Wibowo, F. Ronilaya, C. Rahmad and R. O. H. A. D. I. Erfan, "A General Inverse Kinematic Formulation and Control Schemes for Omnidirectional Robots," Engineering Letters, vol. 29, 1 2022.
I. Siradjuddin, L. Kamajaya, S. Wibowo, A. A. Rofiq, G. A. Azhar and M. Khairuddin, "Near Real Time Simulation of an Independent Steering Independent Driving Mobile Robot," in 2021 3rd International Conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency (SUMMA), 2021.
G. A. Azhar, T. Winarno and A. Komarudin, "Kontrol Sudut Elevasi Robot Pelontar Softsaucer dengan Metode PID," Jurnal Elektronika Otomasi Industri, vol. 4, pp. 9-14, 2020.
M.-A. Chung and C.-W. Lin, "An Improved Localization of Mobile Robotic System Based on AMCL Algorithm," IEEE Sensors Journal, vol. 22, pp. 900-908, 2022.
S. Di Cairano and I. V. Kolmanovsky, "Real-time optimization and model predictive control for aerospace and automotive applications," in 2018 Annual American Control Conference (ACC), 2018.
S. Xu and W. Chou, "An Improved Indoor Localization Method for Mobile Robot Based on WiFi Fingerprint and AMCL," in 2017 10th International Symposium on Computational Intelligence and Design (ISCID), 2017.
B. Kim and K. Yi, "Probabilistic and Holistic Prediction of Vehicle States Using Sensor Fusion for Application to Integrated Vehicle Safety Systems," IEEE Transactions on Intelligent Transportation Systems, vol. 15, pp. 2178-2190, 2014.
J. L. Mata-Machuca, L. F. Zarazua and R. Aguilar-López, "Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots with Obstacle Avoidance," IEEE Latin America Transactions, vol. 19, pp. 1417-1424, 2021.
G. Al Azhar, T. Winarno and S. Izza, "Implementasi gh Filter Pada Sensor Kompas Sebagai Peningkatan Akurasi Trajectory Tracking Robot Differential Drive," Metrotech (Journal of Mechanical and Electrical Technology), vol. 1, p. 21–30, 2022.
Unduhan
Diterbitkan
Versi
- 2022-10-31 (2)
- 2022-10-30 (1)
Terbitan
Bagian
Lisensi
Hak Cipta (c) 2022 Gillang Al Azhar, Totok Winarno, Syarifatul Izza
Artikel ini berlisensi Creative Commons Attribution 4.0 International License.
