Follower Robot Research Articles

Implementasi Profil Pelajar Pancasila melalui Kegiatan Ekstrakurikuler Robotik dan Smart Farmer di SMAS Santo Tarcisius Dumai

Santo Tarcisius High School is the first driving school in Dumai City, so Santo Tarcisius High School has the responsibility to implement the Pancasila Student Profile for its students. One of the characteristics of the Pancasila Student Profile is creative, namely being able to modify and produce something original, meaningful, useful and impactful. To realize the Pancasila Student Profile, an effort is needed to provide knowledge and skills to students in an interesting way, one of which is through robotics and smart farmer extracurricular learning activities. Based on the results of discussions with the school principal, the problems faced in implementing robotics and smart farming extracurricular activities include 1) Students have never had an understanding of computer and robot-based intelligent farming system technology, 2) They do not yet have teachers who are competent in the field of robotics, 3) Limited costs purchasing robotic electronic equipment and installing smart farmers at schools. Based on the problems above, the aim of this activity is to realize the Pancasila Profile, especially in the IT sector, through education on making Line Follower robots and smart farming systems for hydroponic plants. The implementation method is by dividing students into several groups to make Line Follower robots. The number of students in this activity is 150 students/class XI SMA Santo Tarcisius. Success in Beginner Community Service (PMP) is to improve students' skills in making robots and intelligent systems which is measured through the final product results, pre test and post test questionnaires, the product results from this PMP are line follower robots and smart farmer systems, the conclusion of the PMP This is to increase efficiency, productivity and sustainability in the agricultural sector through the application of the latest technology.

The Future of Islamic Education: Breaking Through Boundaries with Line Follower Robot Trainers Toward the Era of Society 5.0

This research aims to identify and implement the Line Follower Robot Trainer as an innovative effort to advance Islamic education in facing the Society 5.0 era. The research focuses on SMK NU 1 Karanggeneng, Lamongan, as a case study, where robotic technology is used as a learning tool to integrate Islamic concepts with technological advances. This research proposes the Research and Development (R&D). The results showed that using the Line Follower Robot Trainer significantly improved students' understanding of their technological skills. The survey showed that most students (85%) felt more engaged and excited about learning Islam with the help of the Line Follower Robot Trainer. Students reported higher levels of engagement in learning with the robot, and teachers expressed positive support for using this technology in learning. These positive results reflect the potential of technology in enriching students' experiences in preparing for changes in the evolving Society 5.0 era. This research provides a greater understanding of the role of technology in supporting Islamic education, bridging the gap between tradition and innovation, and bringing Islamic education into an increasingly digitized future. The implications of this research can help Islamic education institutions utilize technology as a powerful tool to spread religious values and prepare students to face an increasingly digitally connected era.

Leader-Follower Formation of Unicycle Mobile Robots Using Quasi-Sliding Modes

This article presents a distributed control of unicycle mobile robots for the leader-follower configuration while maintaining a specific geometric distribution in the horizontal plane. The proposed control algorithm facilitates the formation of the follower robots with respect to the leader by using a quasi-sliding mode. The technique uses a pair of sliding variables, and the proposed controller guarantees the convergence of the sliding variables to a region close to zero. The particular formulation of these sliding variables ensures that their convergence to a bounded region around zero, provides asymptotic convergence of the formation errors towards a bounded region around the origin.

Desain Mobile Robot dengan Differential Steering untuk Penyemprot Nutrisi Tanaman Melon di Greenhouse

Maintenance of melon cultivation is still carried out conventionally even though melon plants require different nutrients in each phase of vegetative and generative development. For this reason, an automation system is needed that can help distribute nutrients and pH in each planter bag. In this study, the automation system is realized in the form of a line follower robot using a PID (Proportional Integral Derivative) control system. The PID control system is used to correct errors from measuring input variables so that the system output matches the set point value to produce the smallest possible error. Based on the results of the experiments conducted, the best PID control parameter results were obtained with a value of Kp = 10, Ki = 0.5, and Kd = 1, where these values can respond to the position of the mobile robot line follower so that it always detects the set point value and has the fastest time to reach the finish with a time of 30,450 ms.

Motion Regulation Solutions to Holding and Moving an Object for Single-Leader–Dual-Follower Teleoperation

This paper provides solutions for a single-leader-dual-follower (SLDF) teleoperation system to collaboratively transport an object. First, to regulate the direct-teleoperated follower robot (DFR), we employ a relative pose transformation algorithm, based on “re-fixing” the leader and DFR together, to enable that the operator can ergonomically guide DFR without requiring any specific initial position, ensuring a higher teleoperation precision at the same time. Second, to regulate the assistive follower robot (AFR), we provide an efficient technique to acquire the right orientation to achieve holding. In addition, we devise an adjustable artificial potential field method (APFM) to autonomously regulate AFR's position to a ready-to-hold pose, where the operator's motion is involved. At last, based on the combination of the auto-regressive model and the impedance model, we generate a reference trajectory for AFR to follow, which enables the followers to hold a rigid or deformable object with a desired contact force. Simulations and experimental results verify the feasibility and effectiveness of the proposed method.

Principle Operation of a Line Follower Robot

A rudimentary autonomously guided robot called a "Line Follower Robot" (LFR) follows a line written on the ground to either find a white line on a dark surface or a dark line on a white surface. Working on the LFR is quite interesting. We will discover how to construct a black line follower robot in this study utilizing an Arduino Uno and a few readily available parts.

Framework to Estimate Operating Intention for a Leader–Follower Robot

The teleoperation feature of a leader–follower robot is used to operate the robot in a working environment that is dangerous to the operator. This paper proposes a method for estimating the intended operation of the operator of the leader–follower robot and generating behaviors for the follower robot. By generating partially autonomous robot behavior, our proposed method decreases the burden on the operator and realizes a safe controller that is robust against misoperation or disturbances. Owing to the impact of misoperation on estimation and the potential for unintended movement of the follower robot, our proposed estimation method relies on historical values of intended operation. The proposed method was verified through simulation using real operation inputs to the leader system based on practical scenarios, including misoperation.

Coordination control of the automated fiber placement system using photogrammetry-based leader–follower approach

The use of multiple robots in an automated fiber placement system (AFPS) makes it possible to manufacture composite structures with complex shapes. The robots in such system usually adopt independent trajectory planning and control methods. This makes the AFPS lack coordination, and rely heavily on the high-precision calibration of the system when completing complex fiber placement tasks. In this article, a novel photogrammetry-based leader–follower (PBLF) approach is proposed for a particular AFPS which consists of a serial manipulator and a parallel robot to improve its accuracy and coordination. The approach is composed of an offline trajectory planning module, a leader module, and a follower module. The trajectory planning algorithm in the offline trajectory planning module solves the problem of robot workspace constraints and mandrel occlusion in the fiber placement tasks for complex structure. Besides, a novel photogrammetry-based pose tracking method is proposed to make the follower robot track its desired relative trajectory with respect to the moving reference frame and keep the coordination of the two robots. The theoretical stability of the proposed approach is proved. The results of experiments indicate that the proposed approach can reduce the average mean absolute errors of the relative pose in position and orientation direction by 62.15% and 46.42%, respectively. While the corresponding average root mean square errors are reduced by 61.20% and 45.26%, respectively. Therefore, compared with Non-Coordination approach, the PBLF approach can effectively improve the coordination of the two robots.

Fuzzy Logic Algorithm of Sugeno Method for Controlling Line Follower Mobile Robot

The industrial world has been increasingly using robots for production purposes. One type of robot used is a line follower robot for the purposes of transportation of production materials. Various researches and competitions of line follower robots were held to improve its performance. This study proposed a fuzzy logic algorithm using Sugeno method for a line follower mobile robot. This algorithm received input from the readings of 8 sensors mounted on the bottom of the robot and generated the speed of each left and right motor. This speed was used to keep the robot on track. The performance of this algorithm was compared with the fuzzy logic algorithm of the Mamdani method. The proposed fuzzy logic algorithm was better in terms of speed. The results of this study can be used as material to study the application of fuzzy logic algorithm in real time.

Improvement of Skills for Mu'allimin International Class Upper Secondary Level Students Through Line Follower Robot Training

Madrasah Mu'allimin Muhammadiyah Yogyakarta is a private religious-based educational institution. This campus has a superior class, namely Mu'allimin International Class Upper Secondary (MIC US). This class has 35 students and is divided into Upper Secondary A and Upper Secondary B classes. Even though Madrasah Mu'allimin has organized robotics extracurricular activities, in this MIC UP class all students cannot participate in these activities because the location of this class is far from the robotic site. MIC UP students' interest in robotics is quite high. Therefore, the students need to be given short training to improve their knowledge and skills in constructing robots. To realize this activity, Madrasah Mu'allimin collaborated with the Electrical Engineering Study Program at Universitas Muhammadiyah Yogyakarta (TE Study Program UMY), specifically line follower robot training. This activity is planned to be held for 1 day, starting with a pretest, delivering robotics material, building line follower robots, testing robots on the track, and closing it with a post-test. This activity was assisted by 2 international students from the TE Study Program UMY, coming from North Sudan and Qatar.

IOT Based Medicine Transporter

During the coronavirus pandemic there are more than 174.4 million cases and 3.8 million deaths reported by claim the objective of the project “IOT BASED MEDICINE TRANSPORTER” is to reduce the number of diseases spreading among the medicine staffs and doctors when they attend the patient and administering the medication who are isolated in the general ward. This objective achieved by designing the medicine transporter using line follower robot using ESP32 microcontroller and equipped with the IR sensor and ultrasonic sensor which help in determine the path and stops during obstacles. The line follower robot is equipped with trays that deliver medicines to the patients and reduce unnecessary contact with the patient.

Human Following Robot Based on Motion Sensing Technology

In the current technological age, robots that follow humans are widespread. We can implement the technique of ‘human following’ in robots to follow a person inside a particular area. Human-robot communication is an integral component in this scenario. The human follower robot can assist us in both residential and industrial settings. Robots already exist to perform tasks at ease to assist humans has become a commendable and important development in the world of technology. Using an Arduino board along with an ultrasonic sensor and infrared sensors, the robot will detect motion and follow the person in motion.

Principle Operation of a Line Follower Robot

A rudimentary autonomously guided robot called a "Line Follower Robot" (LFR) follows a line written on the ground to either find a white line on a dark surface or a dark line on a white surface. Working on the LFR is quite interesting. We will discover how to construct a black line follower robot in this study utilizing an Arduino Uno and a few readily available parts.

Principle Operation of a Line Follower Robot

Principle Operation of a Line Follower Robot

Development of Robot to Improve Learning of Programming Skills among Students

The Fourth Industrial Revolution (IR4.0) has shifted the mindsets of engineering students on the importance of IT skills for current and future engineering related jobs. Nowadays, programming is the most fundamental skill that needs to be learnt by the students using mBot technology. The mBot technology is consider as programmable educational robot designed for beginners to learn basic programming concepts which can be assessed and evaluated via bloom's taxonomy framework. It can be a daunting task to learn programming, especially to new students who do not have any prior experience in coding. Average and low performing students are lacking algorithmic skills, where they could not visualize how the programming concepts work. Therefore, this paper presents the effectiveness of using robot to improve students’ learning of the programming concepts. In designing the learning modules, bloom’s taxonomy model and problem-based learning are adopted using mBot. Moreover, a low-cost and pre-programmed line follower robot has been used to demonstrate the outputs from the programs written in a more interactive manner. For the evaluation, pre-test and post-test of Quasi experimental design have been applied involving 40 students who were identified and categorized as average and low performing groups in the course. The findings show that a significant improvement has been observed from students’ performance and motivation. As such, the students’ performance is measured based on two phases of experiments. Whereas the students’ motivation is measured based on four motivation attributes: self-efficacy, active learning strategy, programming learning value and performance goal.

Assembling, simulating, and recording robot videos as an effort to motivate middle school students and teachers of Science in Bengkulu Province

The aim of this study was to determine the motivation of science teachers and students towards science after participating in the activity of assembling, simulating, and recording line follower robots as an effort to motivate middle school students and teachers towards science in Bengkulu Province. The research was done by direct practicing, where 60 students and 15 teachers of three junior high school (SMP): SMP Negeri 06 Seluma, SMP Negeri 02 Kota Bengkulu, and SMP Negeri 8 Rejang Lebong, were involved as the research subjects. The research activity concluded that the schools are ready to prepare simple electronics/robot laboratories for the three research subjects and the science teachers and students were motivated to learn science. It was seen from the score of 3.95 (scale of 1 to 5) for students, and for the science teacher, the score was 3.83 (scale of 1 to 5). The science teachers will follow up on robotics activities so that students will be interested in learning science at home and school.

Hardware-Efficient Scheme for Trailer Robot Parking by Truck Robot in an Indoor Environment with Rendezvous.

Autonomous grounded vehicle-based social assistance/service robot parking in an indoor environment is an exciting challenge in urban cities. There are few efficient methods for parking multi-robot/agent teams in an unknown indoor environment. The primary objective of autonomous multi-robot/agent teams is to establish synchronization between them and to stay in behavioral control when static and when in motion. In this regard, the proposed hardware-efficient algorithm addresses the parking of a trailer (follower) robot in indoor environments by a truck (leader) robot with a rendezvous approach. In the process of parking, initial rendezvous behavioral control between the truck and trailer robots is established. Next, the parking space in the environment is estimated by the truck robot, and the trailer robot parks under the supervision of the truck robot. The proposed behavioral control mechanisms were executed between heterogenous-type computational-based robots. Optimized sensors were used for traversing and the execution of the parking methods. The truck robot leads, and the trailer robot mimics the actions in the execution of path planning and parking. The truck robot was integrated with FPGA (Xilinx Zynq XC7Z020-CLG484-1), and the trailer was integrated with Arduino UNO computing devices; this heterogenous modeling is adequate in the execution of trailer parking by a truck. The hardware schemes were developed using Verilog HDL for the FPGA (truck)-based robot and Python for the Arduino (trailer)-based robot.

Vision-Based Soft Mobile Robot Inspired by Silkworm Body and Movement Behavior

Designing an inexpensive, low-noise, safe for individual, mobile robot with an efficient vision system represents a challenge. This paper proposes a soft mobile robot inspired by the silkworm body structure and moving behavior. Two identical pneumatic artificial muscles (PAM) have been used to design the body of the robot by sewing the PAMs longitudinally. The proposed robot moves forward, left, and right in steps depending on the relative contraction ratio of the actuators. The connection between the two artificial muscles gives the steering performance at different air pressures of each PAM. A camera (eye) integrated into the proposed soft robot helps it to control its motion and direction. The silkworm soft robot detects a specific object and tracks it continuously. The proposed vision system is used to help with automatic tracking based on deep learning platforms with real-time live IR camera. The object detection platform, named, YOLOv3 is used effectively to solve the challenge of detecting high-speed tiny objects like Tennis balls. The model is trained with a dataset consisting of images of Tennis balls. The work is simulated with Google Colab and then tested in real-time on an embedded device mated with a fast GPU called Jetson Nano development kit. The presented object follower robot is cheap, fast-tracking, and friendly to the environment. The system reaches a 99% accuracy rate during training and testing. Validation results are obtained and recorded to prove the effectiveness of this novel silkworm soft robot. The research contribution is designing and implementing a soft mobile robot with an effective vision system.

Design and control of a multi-mobile-robot cooperative transport system based on a novel six degree-of-freedom connector

Multi-robot cooperative object transport on uneven roads is challenging. The key barrier is dealing with nonholonomic and rigid-formation motion constraints. In this study, to alleviate the influence of these constraints on a multi-robot cooperative transport system (MRCTS), a six degree-of-freedom connector capable of sensing three-axial displacements, three-axial forces, and three-axial angular displacements is designed and employed. Based on the local displacements derived from each connector, we develop a position calibration method to calculate the relative position of each robot and achieve a centralized control strategy. Based on the forces sensed by each connector, we design a decentralized control strategy to accomplish cooperative transport in which a leader robot guides the follower robots toward a destination by applying forces, instead of centralized information broadcasting. The experimental results show that the MRCTS works well on an uneven surface, and the tracking errors are within the design stroke of the connectors, demonstrating the effectiveness of the design and control methods of the MRCTS.

Formation Control of Non-Holonomic Mobile Robots: Predictive Data-Driven Fuzzy Compensator

A key research topic in the field of robotics is the formation control of a group of robots in trajectory tracking problems. Using organized robots has many advantages over using them individually, such as efficient use of resources, increased reliability due to cooperation, and better resistance against defects. To achieve this, a controller is proposed that steers the leader robot and subsequent follower robots asymptotically to a reference trajectory. The basic controller is feedback linearization. To ensure stability against perturbations, a compensator based on type-3 fuzzy logic systems (T3-FLSs) and a data-driven control strategy is designed. The approach involves employing a finite number of open-loop data and using the model-based predictive controller (MPC) approach to acquire sufficient criteria for stability. An infinite-horizon function is minimized online, which allows the data-based control policy to be considered the optimal control method. The gains of the constrained data-based control signal are computed at each time step to enhance accuracy. Applying the data-based state feedback controller to the system yields positive and stable state trajectories with appropriate transient responses. The suggested data-driven compensator is guaranteed to handle constraints. A practical example is simulated to evaluate the proposed strategy.