2015 International Electronics Symposium (IES) 100 Control for Balancing Line Follower Robot using Discrete Cascaded PID Algorithm on ADROIT V1 Education Robot Eko Henfri Binugroho 1 , Derry Pratama 2 , Akhmad Zackarya Rizqy Syahputra 3 , Dadet Pramadihanto 2 1 Mechanical and Energy Engineering Department 2 Computer and Informatics Engineering Department 3 Electrical Engineering Department Electronic Engineering Polytechnic Institute of Surabaya sragen@pens.ac.id, derryprimero@gmail.com, z4ck.pott3r@gmail.com, dadet@pens.ac.id Abstract—Robotics has been widely used in education as a learning tool to attract and motivate students in performing laboratory experiments within the context of mechatronics, electronics, microcomputer, and control. In this paper we propose an implementation of cascaded PID control algorithm for line follower balancing robot. The algorithm is implemented on ADROIT V1 education robot kits. The robot should be able to follow the trajectory given by the circular guideline while maintaining its balance condition. The controller also designed to control the speed of robot movement while tracking the line. To obtain this purpose, there are three controllers that is used in the same time; balancing controller, speed controller and the line following controller. Those three controllers are cascaded to control the movement of the robot that uses two motors as its actuator. From the experiment, the proposed cascaded PID controller shows an acceptable performance for the robot to maintain its balance position while following the circular line with the given speed setpoint. Keywords—ADROIT V1; Balancing robot; line follower; cascaded PID. I. INTRODUCTION Recently, educational robotics has attracted the high interest of teachers and researchers as a valuable tool to develop cognitive and social skills for students. It has been widely developed for students from elementary school to high school to support learning in science, mathematics, technology, informatics and other school subjects or interdisciplinary learning activities [1-2]. Through the design, creation, assembly and operation of robots, educational robotics can support educational activities in strengthening specific areas of knowledge and skills developed by students. By using it, the student will try to learn the current trends in automation technology which is related to the use of mechanical, electronic, control, and computer-based programming. Balancing robot would be an interesting model or tool to teach the student about the basic principle of the control. The robot could maintain its standing position by controlling its tilt angle by using tilt sensor. It will be an ideal object to teach the student about mechatronics, which includes electronic devices and embedded control algorithm. Two wheeled balancing robot has the ability to balance on its two wheels and spin on its center spot. This maneuverability allows navigation on the various terrains, traverse small step or curbs, and turn sharp corner easier. This robot also has a relatively smaller footprint compared with three or four wheeled robots, thus enable it to travel around corridors and tight corners more easily [3]. These capabilities make it also has a potential in solving many challenges in industry and society. Balancing robot needs a controller to maintain its upright position without external support. Since its wheels can move on the plane surface, thus additional heading angle control to the robot makes the controller become more complex. In this paper we propose a controller that combines the balancing capability of the robot with the speed controller to make the robot move at the desired speed while maintaining its upright position. Line follower controller also added in the system to make the robot to be able to follow the given guide line. Those controllers are cascaded in the system to make the robot able to follow the given guide line at the desired speed, while still maintaining its balance condition. Control of the line follower balancing robot is quite challenging since a single input force has to control the balance, speed and steering in the same time. Thus, for successful control of the robot, three variables, namely a balancing angle, a steering angle and its speed should be controlled properly to drive the speed of DC motor connected to the wheels. To make the proposed controller works, several sensors are used in the system, such as IMU sensor for balancing control, rotary encoder for speed sensor and array of reflective color sensor for the line sensor. The proposed controller is implemented for two wheel balancing robot model using ADROIT V1 education