RANCANG BANGUN ROBOT AGV DISTRIBUSI SAMPEL JAGUNG BEBAN MUAT 1 KG DENGAN KONTROLER PID

PARSITA, IRVAN NUR (2026) RANCANG BANGUN ROBOT AGV DISTRIBUSI SAMPEL JAGUNG BEBAN MUAT 1 KG DENGAN KONTROLER PID. S1 thesis, Universitas PGRI Madiun.

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Abstract

The development of automation technology has encouraged the use of Automatic Guided Vehicles (AGVs) for material distribution. This study aims to design and develop an AGV with a 1 kg payload using a Proportional Integral Derivative (PID) controller. The robot uses an Arduino Mega 2560, TCRT5000 sensors, 12 V DC gearbox motors, and an L298N motor driver with a line follower system and branch-based navigation. The research methods included hardware and software design, PID manual tuning, navigation testing, and load variation tests. The manual tuning process using 11 parameter variations resulted in optimal PID parameters of Kp = 5, Ki = 0, and Kd = 1.5, with an Absolute Error (AE) value of 24,835.7. Testing of 12 navigation scenarios achieved a 100% success rate. In the load variation tests, the average travel time increased from 6.5 seconds at 0 kg to 11.2 seconds at 1.1 kg. The lowest AE value of 7,663 was obtained at a 1 kg load and increased to 11,283 at 1.1 kg. The success rate reached 100% for loads up to 1 kg and decreased to 90% at 1.1 kg. The results show that the robot was able to follow the track and navigate effectively while operating within its designed 1 kg payload capacity.

Item Type:	Thesis/Skripsi/Tugas Akhir (S1)
Kata Kunci:	Kata kunci: Automatic Guided Vehicle (AGV), Line Follower, Kontrol PID, Navigasi Percabangan, Variasi Beban. Keywords: Automatic Guided Vehicle (AGV), Line Follower, PID Control, Branch-Based Navigation, Load Variation.
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Fakultas Teknik > Teknik Elektro
Depositing User:	PARSITA NUR IRVAN
Date Deposited:	16 Oct 2026 06:44
Last Modified:	16 Oct 2026 06:44
URI:	http://eprint.unipma.ac.id/id/eprint/10296

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