Indrazno Siradjuddin, Totok Winarno, Muhammad Khairuddin, Mas Nurul Achmadiah, Rendi Pambudi Wicaksono, Gillang Al Azhar
This paper presents a kinematic control algorithm development for a four-omni-wheeled robot such that the robot pose's error decreases exponentially. A PID control scheme was used to regulate the angular speed of DC motors. Simulation experiments have been carried out to verify the mobile robot motion and the proposed control performances. This simulation would give a good initial robot and control design before realizing a real time robot controller. The results obtained through the simulation program elucidate that the robot is able to reach the specified static target and direction towards the robot in less than 6 seconds with the value of every RMSE below 0.01. These results also reveal that the proposed PID control can be utilized to make the robot moves smoothly as planned. The graphical form is employed to present the results of response, trajectory, and the changes in error values. © 2021 IEEE.
State Polytechnic of Malang, Electrical Engineering Department, Malang, Indonesia