Implementation of PD (Proportional Derivative) Control System On Six-Legged Wall Follower Robot

摘要

Wall follower is a method to be used in mobile robot navigation. Here, wall follower navigation was developed using PD (Proportional and Derivative) control system implemented on six-legged robot (hexapod). This method aims to make the robot walk smoothly when following the wall and avoiding obstacles. This robot is equipped with the 7 ultrasonic range sensors to measure the distance of the robot against the wall. There are some basic movements to navigate following the wall, such as walking, avoiding obstacles, and following walls or corridors. The results of this research showed that implementing PD control system can make it walk through the wall with the success rate of 90% on the right wall following mode, and 95% on left wall following mode.