Implementation of MPU6050 Module Based On ROS and PID Controller as Stabilization Control and Rotational Motion of SAR Robot

Abstract

This research discusses about the implementation of MPU6050 to a SAR robot as a rotational motion control and improvement of robot stability. MPU6050 is implemented using ROS (Robot Operating System) and PID control. ROS is used as a means of communication while managing robot programs, namely the gyroscope reading program, PID control, and serial communication. A good PID control is able to provide stability to the robot's motion, both moving forward and balancing the robot body. PID requires tuning to produce the appropriate Kp, Ki, and Kd values. The result of this research is that ROS is able to manage the robot program well, and the PID tuning value with Kp = 0.12, Ki = 0, and Kd = 0 and completion time for 3.04s. It is hoped that this research will be able to provide an explanation of the implementation of ROS-based MPU6050 and PID control in improving the stability and rotational motion of the SAR robot.