Prototype of Robot Movement Navigation System Using Pixy Camera (CMUCAM 5)

摘要

Technological advances support the development of tools used in the industrial sector, one of which is the Automated Guided Vehicle (AGV). AGV can be used to deliver goods automatically. This AGV can be made using visual sensors, one of which is the Pixy camera. This AGV robot can be used to follow the motion of objects. In addition to the Pixy camera as a visual sensor, the Arduino Mega 2560 is also used as a microcontroller, and the L298N motor driver shield with two DC motors. The distance and speed of the robot are also determined so that it can move in the direction the object is going. Manoeuvring is needed on a robot with better sharpness and ability, so Mamdani fuzzy logic control is used as a method. Tests are carried out using the Turn value or Position and Area or the distance between the camera sensor and the object. The experimental simulation was carried out with a case study of Turn value of 0.6 and Area of 6000. Testing was carried out using simulation software and Arduino IDE which were then calculated manually for comparison. The results obtained in testing with the simulation software are 20.80 for the right DC motor and 85.60 for the left DC motor, with the Arduino IDE software the values are 21.11 for the right DC motor and 85.20 for the left DC motor, and the manual calculation produces a value of 21.09 for the right DC motor and 85.04 for the left DC motor. From the resulting data, from the error rate is 98.51% for the right DC motor and 99.53% for the left DC motor.