Jawaban:

Aplikasi Sensor Cahaya Sebagai Sensor Garis Pada Robot  

Berbasis Kontrol PID Dengan Pengaturan Kepekaan  

Cahaya Otomatis

I Made Niantara Riandana1

, I Nyoman Budiastra2

, Cok Gede Indra Partha3

Abstract—Line follower robot requires an automatic  

control system in operating to follow a track / line. Control  

systems are used in line follower robot is PID-based  

control system. In PID control system requires setting of  

constants Kp, Kd, and Ki proper to obtain a stable  

movement of the robot to follow the line or track. Line  

follower robot that used in this research is an adaptive  

robot, so the robot can adapt in every lighting conditions  

were be different on each track by adding two pieces of  

light sensors on the robot.  

The integration of the PID control system by setting the  

constants of Kp, Kd, Ki precise and automatic light

sensitivity settings, will produce good movement to follow  

the track and that can adapt with every lighting conditions  

automatically be. From the experiment have been done,  

obtained the best control constants of Kp, Kd, and Ki with  

a constant value entered is Kp = 7, Kd = 5, and Ki = 7 and  

light sensitivity automatic setting searched based on a  

reading of two light sensors and with the formula of  

sensitivity is = ((sensor1 + sensor2) / 2) + 100.  

Intisari—Robot line followermerupakan robot dengan  

sistem kontrol otomatis dalam beroprasi mengikuti sebuah  

lintasan/garis. Sistem kontrol yang digunakan dalam robot line  

follower adalah sistem kontrol berbasis PID.  

. Penjelasan: