Implementation of Distance-Measuring System Using Ultrasonic to be used in an Autonomous Human-Following Luggage Robot

In this research, ultrasonic sensors are implemented to measure distances for anautonomous human-following luggage robot. The system consists of the luggage robot and thewireless transmitter device which is held by the person acting as a target. The robot is equippedwith two ultrasonic sensors mounted on the top of it, acting only as receivers, two DC motors todrive the robot, and an Arduino board acting as microcontroller. Meanwhile, the transmitterdevice has one ultrasonic sensor. The luggage robot is designed to follow the person byfollowing the signals sent by the transmitter device. In order to determine the direction of thetarget, a microcontroller is used to measure time difference of the signals received by thereceivers mounted on the top of the luggage. A program is developed to compute the directionand distance to where the robot should move according to the transmitter device. Themicrocontroller then controls the motors through the H Bridge to make speed adjustment onboth motors according to the direction of movement.