S. Sendari, M.S. Hadi, A. N. Handayani, Y. R. Wahyudi, Hsien-I Lin
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引用次数: 5
摘要
墙体跟随是一种用于移动机器人导航的方法。本文采用PD (Proportional and Derivative)控制系统在六足机器人(hexapod)上实现墙体跟随器导航。这种方法的目的是使机器人在跟随墙壁和避开障碍物时能够平稳地行走。该机器人配备了7个超声波测距传感器，用于测量机器人与墙壁的距离。有一些基本的动作可以跟随墙壁导航，如行走，避开障碍物，沿着墙壁或走廊。研究结果表明，实现PD控制系统可以使其在右墙跟随模式下穿墙成功率为90%，在左墙跟随模式下成功率为95%。
Implementation of PD (Proportional Derivative) Control System On Six-Legged Wall Follower Robot
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.
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