Choirozyad Muhammad Hafidz, Moh Khairudin, Waradzi Mustakim, Tatyantoro Andrasto, Yana Yohana
Odometry systems are frequently seen in autonomous robots and are widely utilized. The odometry system employs a rotary encoder sensor to determine the robot's distance traveled as a distance reader or robot sense. The goal of this study is to evaluate the performance of an odometry system that uses two rotary encoder sensors for cartesian x and y and a gyroscope sensor to locate the robot's facing direction on a mobile robot to assess the precision and accuracy of reading the robot's distance. Analyses using descriptive statistics are the study methodology. This research is urgent because it relies on two rotary encoder sensors with PID control on four-wheeled omni wheels to make it easier for autonomous mobile robots to do their jobs. In trials with changes to specific y-axis values, the validation obtained an average y-error value of 0.19 cm and an average x-error of 3.63 cm based on the study's findings. Get an average x error of -0.88 cm and an average y error of 1.88 cm on a certain x-axis. The PID4 value, which may provide consistent results in managing the mobile robot in this study, is acquired via testing using PID control by experimenting with four distinct PID values. © 2025 American Institute of Physics Inc.. All rights reserved.
Department of Electrical Engineering Education, Faculty of Engineering, Universitas Negeri Yogyakarta, Yogyakarta, Indonesia; Department of Teaching Vocational and Education Training, Faculty of Engineering, Universitas Negeri Padang, Padang, Indonesia; Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Semarang, Semarang, Indonesia
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