PID Controller with an Override Mode for a Wall-Following Robot with a Rotating Sensor Compartment

Authors

  • Erwin Sitompul [Scopus ID: 56011241100] Electrical Engineering Study Program, Faculty of Engineering, President University, Indonesia
  • Elan Rohmawan Electrical Engineering Study Program, Faculty of Engineering, President University, Indonesia
  • Arthur Silitonga Institute for Information Processing Technologies (ITIV), Karlsruhe Institute of Technology, Karlsruhe, Germany
  • Iksan Bukhori Electrical Engineering Study Program, Faculty of Engineering, President University, Indonesia

DOI:

https://doi.org/10.26418/elkha.v16i2.84708

Keywords:

Wall-following robot, PID controller, override

Abstract

This paper presents the design of a wall-following robot (WFR) with a rotating sensor compartment to reduce the number of distance sensors used. Two infrared (IR) sensors were fitted in the compartment that rotates back and forth at 45 °, producing four measurement values at each rotation cycle. The WFR was regulated using a novel control scheme of PID controller with an override mode. A discrete PID controller in position form was used to run the WFR to follow straight wall segments or walls turning left, while an override mode governed the WFR to follow walls turning right. The sampling time was set to 300 ms. The parameters of the PID controller were tuned using a trial-and-error method. The Mean Absolute Errors (MAE) was selected as the cost function. The WFR conducted twelve trial runs along a trial track with a length of 200 cm, consisting of one right turn and one left turn. The parameters that yielded the lowest MAE of 0.90  cm were used for further tests. Subsequently, a closed track for testing was constructed with a length of 845 cm, consisting of 7 right turns and 2 left turns. The WFR completed five test runs successfully, each elapsing the test track twice. The lowest MAE during the tests was 1.06  cm. The favorable performance of the proposed WFR strengthens future development efforts to equip the robot with more hardware to fulfill specific tasks and to put the completion time into optimization consideration.

Author Biographies

Erwin Sitompul, [Scopus ID: 56011241100] Electrical Engineering Study Program, Faculty of Engineering, President University, Indonesia

Erwin Sitompul is a lecturer at the Study Program of Electrical Engineering. His area of expertise is control theory and application, modeling and identification of physical systems, along with optimization of multivariable systems. His bachelor background of Engineering Physics keeps him in keen interest of thermal engineering, building physics, and acoustics.

h-index: Scopus = 4, GS = 5

Arthur Silitonga, Institute for Information Processing Technologies (ITIV), Karlsruhe Institute of Technology, Karlsruhe, Germany

Arthur Silitonga (Member, IEEE) received the BEng degree in electrical engineering from the Bandung Institute of Technology, Indonesia, and the master's degree from the Karlsruhe Institute of Technology, Germany. He is currently working toward the doctoral degree in the Institute for Information Processing Technologies (ITIV), Karlsruhe Institute of Technology, Germany, Since December 2016. He worked for less than a year at PT. Clarisense Digital Media, Indonesia before he continued his master's degree. Between his master studies and a very few times after the completion of the studies, he gained (practical) work experience at CarMedialab GmbH and EADS Astrium GmbH, Germany. Some months later, he worked at PT. Xirka Silicon Technology, Indonesia. Then, he started working as a lecturer with President University, Indonesia. His current research interests include high-level synthesis, software-defined multiprocessor SoC, applied cryptography, hardware security, and reconfigurable architectures. He is currently a student member of ACM.

Iksan Bukhori, Electrical Engineering Study Program, Faculty of Engineering, President University, Indonesia

Ir. Iksan Bukhori, S.T. M.Phil. (IEEE Member, PII Member) received Master’s Degree (M.Phil.) in Electronic System Engineering from Malaysia-Japan International Institute of Technology (MJIIT) of Universiti Teknologi Malaysia (UTM) in Kuala Lumpur, Malaysia and Bachelor’s degree (S.T.) in Electrical Engineering specializing in Control System, from President University, Cikarang, Indonesia. Research interest includes Control System and Automation, Robotics, Machine Learning in Control and Robotics, and Embedded System in Internet of Things (IoT)

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Published

2024-10-21

Issue

Vol. 16 No.2 October 2024

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Vol. 16 No.2 October 2024

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