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Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Ningrum, Endah Suryawati; Hakkun, Rizky Yuniar; Alasiry, Ali Husein
EMITTER International Journal of Engineering Technology Vol 3, No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (816.382 KB)

This research deals with formation control of swarm robot based on changing of robotâs relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader

Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Ningrum, Endah Suryawati; Hakkun, Rizky Yuniar; Alasiry, Ali Husein
EMITTER International Journal of Engineering Technology Vol 3, No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

This research deals with formation control of swarm robot based on changing of robotâs relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader

Sistem Keseimbangan Robot ERISA Pada Bidang Miring Menggunakan Kontrol PD dan Sensor Fusion Novian Fajar Satria; Ali Husein Alasiry; Bambang Sumantri; Risma Dian Alamri
Jurnal Rekayasa Elektrika Vol 17, No 3 (2021)
Publisher : Universitas Syiah Kuala

The world of robotics is currently developing; many robots are created to help humans work in carrying out daily activities. Various types of robots have been created, one of which is a type of robot that resembles a human body (humanoid). Humanoid robots are developing in many countries, including Indonesia. In its development, the walking technique is a major factor in making humanoid robots. Humanoid robots have the ability to walk like humans by balancing their body positions while walking, so they don’t fall. In maintaining this balance, a tilt detection system for the robot’s position and a balancing system is needed when the robot is about to fall. So, to overcome this problem, implementation is carried out using the sensor fusion method at the output of the sensors that are used to minimize noise or interference with the sensor output value. The accuracy of the sensor output value on the position angle tilt detector can help the robot provide a balancing act. By implementing a PD control system and sensor fusion consisting of a Kalman filter and a complementary filter, the robot was successfully carried up and down the plane to a maximum slope of 12 °.

Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Endah Suryawati Ningrum; Rizky Yuniar Hakkun; Ali Husein Alasiry
EMITTER International Journal of Engineering Technology Vol 3 No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

This research deals with formation control of swarm robot based on changing of robotâ€™s relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader

Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass Dimas Pristovani Riananda; Ardik Wijayanto; Ali Husein Alasiry; A. Subhan Khalilullah
EMITTER International Journal of Engineering Technology Vol 6 No 1 (2018)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Synthetic grass surface is a new rule in international robot soccer competition (RoboCup). The main issue in the development of the RoboCup competition today is about how to make a humanoid robot walk above the field of synthetic grass. Because of that, the humanoid robot needs a system that can be implemented into the walking algorithm. This paper describes how to maintain the stability of humanoid robot called EROS by using walking trajectory algorithm without a control system. The establishment of the walking trajectory system is combined with a process of landing optimization using deceleration and heel-strikes gait optimization. This system has been implemented into a humanoid robot with 52 cm of height and walking on synthetic grass with different speeds. By adding optimization, the robot walks more stable from 32% to 80% of stability. In the next research, the control system will be added to improve the stability.

Sensor Coordination for Behavior of Search Robot Using Simultaneous Localization and Mapping (SLAM) Indra Adji Sulistijono; Endah Suryawati N; Eko Henfri B; Ali Husein A; Ananda Verdi S
IPTEK The Journal of Engineering Vol 2, No 1 (2015)
Publisher : Lembaga Penelitian dan Pengabdian kepada Masyarakat

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23378557.v2i1.a473

We developed a robot for searching victims for survivors of natural disasters. Almost all robots need to navigate a state in the environment to help people around them, therefore the robot should have performance a mapping system. Thus improve the performance of robots in knowing the obstacles, the position and the direction toward the robot with the task of each sensor is to detect obstacles or objects that exist in the use of ultrasonic sensors to avoid bumping into obstacles, to detect the position and determine the distance of the robot using a rotary sensor encoder and to determine the direction toward, direction and elevation angle of the robot using IMU sensor. Whole of the sensor is set by the microcontroller STM32F407VGT6 that sent data from each sensor to a PC using XBee Pro. Therefore, robot create a mapping with OpenGL on the PC. Mapping system plays an important role for fast and accurate to the destination. We conclude, in the robot SLAM method depends on the precision of the data in the sensor US2 (Right), US4 (Left) and the rotary encoder. The test results of the output data at the right ultrasonic sensor produces error US2 16.9%, 14.6% US4 left ultrasonic and rotary encoder sensor error to 19.45%.

Design and Development of Soil Nutrients Level Detection System based on Soil Color and pH for Crop Recommendations using Fuzzy Algorithms Novanna Rahma Zani; Ali Husein Alasiry; Ardik Wijayanto
The Indonesian Green Technology Journal Vol 11, No 1 (2022)
Publisher : Program Pascasarjana Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar

In recent years, modern farmers usually taking a soil sample to the laboratory or using a soil test kit to know soil macronutrients, i.e., nitrogen (N), phosphorus (P), and potassium (K), and pH to determine what kind of crop plant is suitable for their agriculture land. However, these manual methods are costly and time consumed. The characteristic of soil samples also possibly changing by time or contact during transport. This paper presents the design and development of a portable integrated soil macronutrient level and pH detection system that can analyze soil samples quickly. To give crop recommendations, IoT components and cloud-based fuzzy inference systems are used. The fuzzy algorithm decides the crop recommendation from the soil pH and level content of N, P, and K. The user can receive the crop recommendation via the android application. Data is sent from the portable system to the cloud system and vice versa using the internet network with HTTP request protocol. The accuracy test results of system plant decision on agricultural land were compared with the fuzzy logic method have a quite uniform crop output with a small error rate of 1,66%.

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