Rancang Bangun Program Visualisai Gerakan Differential Drive Mobile Robot

Wahyuni, Erni Dwi and Ningrum, Endah Syryawati and Hakkun, Rizky Yuniar (2010) Rancang Bangun Program Visualisai Gerakan Differential Drive Mobile Robot. EEPIS Final Project.

Preview

PDF - Published Version Download (621Kb) | Preview

Abstract

Converting the position of Differential Drive Mobile robot to Cartesian area is one of the problem in Differential Drive Mobile robot. In the reality there is no coordinate which can explained the position of mobile robot movement. The Visualisation and real time experiment have drawn to explained how and where the position of movement using Java programming langueage. It has been made due to the difference Angular Velocity between wheels. Angular Velocity is calculated based on real time input from the the robot itself. The Mobile Robot sent packet data pulse by the serial coaxial is connected to the PC. And then the data pulse is calculated to produce the coordinate position at that moment. Based On Visualisation and real time result , it was found that the calculation of data generated coordinate points have a point distance far enough to need to find other points that can be used as a helper to smooth the transition between positions. Interpolation between the coordinate point of the calculation can provide a more smooth transition of movement. The existence of the slippage that occurred on the wheel. Wheel slippage is not readable by the rotary, rotary, so the data unreadable and reduce the level of the visualization approach. Keywords: Computer graphics, Differential Drive Mobile Robot.

Actions (login required)