PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

. Iswanto; Alfian Ma'arif; Nia Maharani Raharja; Gatot Supangkat; Fitri Arofiati; Ravi Sekhar; Dhiya Uddin Rijalusalam

doi:10.28991/esj-2021-SPER-13

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. Iswanto
iswanto_ppi_umy@ieee.org
1) Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183, Indonesia 2) Department of Engineer Profession Program, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183,, Indonesia https://orcid.org/0000-0001-8459-3920
Alfian Ma'arif Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta 55191,, Indonesia
Nia Maharani Raharja Department of Electrical Engineering, Universitas Negeri Sunan Kalijaga, Yogyakarta 55281,, Indonesia
Gatot Supangkat 2) Department of Engineer Profession Program, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183, Indonesia 5) Department of Agrotechnology, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183,, Indonesia
Fitri Arofiati Department of Nursing Master, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183,, Indonesia
Ravi Sekhar Symbiosis Institute of Technology, Symbiosis International (Deemed University), Pune 412115,, India
Dhiya Uddin Rijalusalam Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta, Yogyakarta 55183,, Indonesia

Vol. 5 (2021): Special Issue "COVID-19: Emerging Research"

Special Issue "COVID-19: Emerging Research"

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Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory.

Doi: 10.28991/esj-2021-SPER-13

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Iswanto, ., Ma’arif, A., Maharani Raharja, N., Supangkat, G., Arofiati, F., Sekhar, R., & Uddin Rijalusalam, D. (2021). PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot. Emerging Science Journal, 5, 157–181. https://doi.org/10.28991/esj-2021-SPER-13

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PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

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PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

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