SURFACE OBSTACLE DETECTION USING TRIGONOMETRY CONCEPT
Nuryanto 1 , Andi Widiyanto *2 , Oesman Raliby 3 , Rochim Widaryanto 4, Mochammad Ariyanto 5
1,2,4 Informatics Engineering, Universitas Muhammadiyah Magelang, Indonesia
3 Industrial Engineering, Universitas Muhammadiyah Magelang, Indonesia
5 Department of Mechanical Engineering, Diponegoro University, Semarang, Indonesia
Abstract
Commonly, wheeled mobile robot is used to pass flat roads and a legged robot is utilized for areas that are bumpy are erratic. KAROT is a mobile robot that has wheels and legs (quadruped) that are designed in automatic transform to wheels mode or legs mode. the problem is how to detect the surface to be passed to determine the robot mode. To solve the problem, this research applies the trigonometry concept to the installation of Infrared (IR) Obstacle sensors. The IR sensor detection path forms the hypotenuse of triangle with fixed length. if the sensor detects an obstacle means the surface in front is not flat then KAROT uses quadruped mode. IR sensor mounted on the left & right side of the robot to detect surfaces and one IR sensor mounted in the middle to detect the area in front can be passed or not. IR Obstacle sensor by applying the trigonometry concept can be used for surface detection with accurate angle installation.
Keywords: Keyword: Mobile robot, wheeled, quadruped, trigonometry, surface detection
Topic: Electrical Engineering