PERANCANGAN ROBOT LINE FOLLOWER PEMINDAH DAN PENGAMBIL BARANG BERDASARKAN WARNA MENGGUNAKAN KENDALI PROPORTIONAL INTEGRAL DERIVATIVE (PID)

Abstract

Line Follower Robot is an automated robot that moves follow a line black on white or white on black. The robot in this study was applied to move 6 types of objects based on their color to 12 storage locations and retrieve them from the storage location. This study uses the TCS3200 color sensor module to distinguish 6 types of objects by detecting the RGB value of the color of the objects used in this study, namely red, green, blue, black, white and yellow. The 5 channel TCRT5000 line sensor module is used to assist the robot in navigating by detecting the line, the sensor readings are processed by Arduino Promini by calculating PID on the system and then driving a DC motor. PID is a control system that has 3 actions, namely Proportional, Integral and Derivative, used to make the robot movement stable when moving along a line. The results of the search for PID constants using the trial and error method obtained the best constant values, namely Kp = 8, Ki = 3 and Kd = 4 which can minimize errors up to -2 to 2 at the base PWM value of 100, maximum PWM 150 and minimum PWM 75.