Implementation of PD (Proportional Derivative) Control System on Six-Legged Wall Follower Robot

S. Sendari; M.S. Hadi; A.N. Handayani; Y.R. Wahyudi; Hsien-I Lin

doi:10.1109/CACS.2018.8606776

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Implementation of PD (Proportional Derivative) Control System on Six-Legged Wall Follower Robot

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S. Sendari, M.S. Hadi, A.N. Handayani, Y.R. Wahyudi, Hsien-I Lin

2018 2018 International Automatic Control Conference, CACS 2018 Conference paper Cited by 6

Abstract

Wall follower is a method to be used in mobile robot navigation. Here, wall follower navigation was developed using PD (Proportional and Derivative) control system implemented on six-legged robot (hexapod). This method aims to make the robot walk smoothly when following the wall and avoiding obstacles. This robot is equipped with the 7 ultrasonic range sensors to measure the distance of the robot against the wall. There are some basic movements to navigate following the wall, such as walking, avoiding obstacles, and following walls or corridors. The results of this research showed that implementing PD control system can make it walk through the wall with the success rate of 90% on the right wall following mode, and 95% on left wall following mode. © 2018 IEEE.

Affiliations

Faculty of Engineering, Universitas Negeri Malang, Malang, Indonesia; Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei, 10655, Taiwan

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