Motion-Making Messenger Robot 1 at the ABU Indonesia Robot Contest 2019 Using the Odometry Method

This research discusses the development of robot messenger 1 movement at the ABU Indonesia 2019 robot contest using odometry. To navigate at the time of the group, the Messenger Robot 1 robot is still operated manually. The disadvantage of manual operation of the robot is that the navigation of the robot is very dependent on the operation of the operator so that the robot is not accurate. Then a system is needed for navigation so that the robot can move accurately. Using the odometry method, it can estimate the change in position relative to the starting position. The positioning of the robot uses a rotary encoder to adjust the speed of the DC motor, according to the specified setpoint and determine the direction of motion of the robot. The test results of the odometry method using rotary encoder sesnor on simple motion, namely forward motion obtained an average error at the X coordinate point of -0.58 cm and at the Y coordinate of -3.02 cm, while in reverse motion obtained an average error, namely at the X coordinate point of 0.39 cm and at the Y coordinate of 3.03 cm. Based on these results it can be concluded that the robot can move literally with a fairly good level of accuracy.