Sistem Distribusi Data Kontrol Pada Differential Drive Mobile Robot Menggunakan Robot Operating System
نویسندگان
چکیده
Pada umumnya mikrokontroler untuk menggerakkan sistem robot hanya menggunakan satu buah saja. Hal ini dapat mengakibatkan berlebihnya beban yang diterima oleh mikrokontroler. Kelebihan pada tidak akuratnya waktu sampling digunakan tersebut dan berujung error atau hank robot. Untuk mengurangi terjadinya error, maka diujicobakan multikontroler Differential Drive(DDMR). Sistem distribusi data antar kontroler memanfaatkan protokol komunikasi serial I2C, antara dengan mini komputer rosserial disediakan Robot Operating System (ROS). Hasil didapatkan melakukan I2C membutuhkan sebesar 1.4 ms, sedangkan ketiga slave dibutuhkan 4.18 saling berkomunikasi master 8.36 ms. 4.7 Sehingga total 13.06 Pengujian juga dilakukan ketika menjalankan algoritma lain dibutuhkan, menghasilkan rata - 63.5 menunjukkan bahwa penggunaan multi Serial berjalan secara optimal, karena masih lebih cepat dari 80
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ژورنال
عنوان ژورنال: Metrotech (Journal of Mechanical and Electrical Technology)
سال: 2022
ISSN: ['2827-8097', '2809-9605']
DOI: https://doi.org/10.33379/metrotech.v1i3.1803