Robot Forklift Line Follower dengan Kendali PID dan Sensor Warna

Abstract

This paper discusses position control design for line follower robot using
Arduino Mega 2560 as a controller, line sensor as a black line detector on the track,
ultrasonic sensor as a detector of distance between the box and the robot with a
distance of 5 cm, and color sensors as red, green and blue color detectors contained
in the box, and the dc motor as driving the right wheel, left wheel and pulley on the
robot. When the robot runs, there is minimal error, and especially the position control
that is suitable for always walking on the black line or being in position 0. The
working principle of the robot is to walk following the black line in the arena to look
for red, green and blue boxes in room 1,2 and 3, then move the box found to the place
provided. PID control is used to maintain the robot's position so that it can follow the
guide line while staying in the center of the robot. From the tuning results, the
constant parameters (Kp, Ki, and Kd) with values (100, 0.1) are obtained to get the
most stable robot position control response during the robot movement towards the
target object of the specified color.