Local Positioning pada Mobile Robot dengan Menggunakan Compass dan Rotary Encoder Berbasis STM32F4

Putra, Yuwana Perdana (2019) Local Positioning pada Mobile Robot dengan Menggunakan Compass dan Rotary Encoder Berbasis STM32F4. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kurang efektifnya pengembangan Autonomous Robot khususnya pada bidang Mobile Robot di negara kita ini menjadi alasan perlu adanya pengembangan lebih lanjut khususnya dalam hal Positioning pada robot. Sistem Local Positioning sangat cocok untuk menunjang pengembang Mobile Robot dan tengah di kembangkan. Namun hanya sedikit pengembangan Positioning ini dengan menggunakan Compass dan Rotary Encoder, serta penggunaan metode Inverse Kinematics. Penentuan posisi pada robot dilakukan pertama kali saat robot diam, dengan mengkalibrasi sensor Compass untuk mengambil data kompas bumi serta memberikan nilai awal Rotary Encoder menjadi 0. Ketika robot dijalankan STM32F4 akan menerima data dari Rotary Encoder yang berputar ketika berjalan dan Compass, selanjutnya diproses kedalam perhitungan Matrix Kinematik dan Inverse Kinematics sehingga didapatkanlah kecepatan dari Body Frame Robot dan diproses lagi dan didapatkan kecepatan lokal. Setelah itu data dari Kecepatan Lokal tersebut diolah lagi (dengan menggunakan metode integral) dan didapatkan hasil dari data Posisi Lokal dan hasilnya akan ditampilkan pada LCD. Proses ini terus berulang dari penerimaan data dari Rotary Encoder dan Compass hingga didapatakan data Posisi Lokal selama power pada STM32F4 terus ada.
Hasil dari sistem ini didapatkan nilai kesalahan posisi robot paling besar untuk arah depan (Y) sekitar 2,05% dan arah kanan (X) sekitar 4,95% serta nilai kesalahan sudut paling besar yang dihasilkan robot sekitar 2,55%.
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The lack of effective development of Autonomous Robots, especially in the field of Mobile Robot in our country is the reason for the need for further development, especially in terms of Positioning on robots. The Local Positioning system is perfect for supporting Mobile Robot developers and is being developed. However, there is little development of Positioning using the Compass and Rotary Encoder, as well as the use of the Inverse Kinematics method. Positioning the robot is done first when the robot is stationary, by calibrating the Compass sensor to retrieve earth Compass data and giving the Rotary Encoder the initial value to 0. When the robot is run STM32F4 will receive data from the Rotary Encoder that rotates when running and Compass, then processed into calculations Kinematic Matrix and Inverse Kinematics so that the speed obtained from the Body Frame Robot and processed again and obtained local speed. After that the data from Local Speed is processed again (using the integral method) and the results obtained from Local Position data and the results will be displayed on the LCD. This process keeps repeating from receiving data from the Rotary Encoder and Compass until you get Local Position data as long as the power on STM32F4 still exist. The results of this system result in the greatest position error of the robot for the front direction (Y) around 2.05% and the right direction (X) around 4.95% and the greatest error value produced by the robot is around 2.55%.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Rotary Encoder, Mobile Robot, Compass, Inverse Kinematics
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Yuwana Perdana Putra
Date Deposited:	10 Aug 2026 03:32
Last Modified:	10 Aug 2026 03:32
URI:	http://repository.its.ac.id/id/eprint/70699

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