Mobile robots, is a term often used to mean a robot that has the ability to roam. No matter whether the robot moves using wheels, legs, or fan for swimming or even flying though, so this kind of robots into the category of mobile robots. In order not to stray, the robot must be equipped with navigation systems that can provide a better direction information. So the robot can correctly decide which direction should move to reach the desired location. Navigation system is quite good, effective, easy to use and is cheap with a digital compass. Many types of digital compass that is produced specifically for the purposes of robotics, one of the most popular are artificial Devantech CMPS03 Ltd. Magnetic Compass. CMPS03 sized 4 x 4 cm is used magnetic field sensors Philips KMZ51 sensitive enough to detect the earth’s magnetic field. This digital compass requires only supply voltage of 5 VDC with a current consumption 15mA. In CMPS03, wind directions are divided in the form of degrees, namely: North (00), East (900), South (1800) and West (2700).
digital compass sensor
There are two ways to obtain information on the direction of the digital compass module is to read the signals PWM (Pulse Width Modulation) on pin 4 or by reading the I2C interface data on pins 2 and 3. PWM signal is a signal that has been modulated pulsanya wide. In CMPS03, positive pulse width represents the direction angle. Pulse width varies between 1mS (2000) until 36.99mS (359.90). In other words pulse width changes by 100uS every rank. The signal will be low for 65mS between pulses, so the total periodanya is 65mS + the positive pulse width (between 66mS to 102mS).The pulse generated by timer 16 bits in the processor, which provides a resolution 1US.
In addition to PWM, CMPS03 also equipped with I2C interface that can be used to read the data in the form of serial data. In 8-bit mode, the direction of north shown by the data 255 with a resolution of 1.40625 degrees / bit. On 16-bit mode, the direction of north shown by the data so that the resolution be 65 535 0.0055 degrees / bit.
CMPS03 digital data can be directly read from the robot controller to determine its current position, for example, is facing east (as of 64th), next to the robot is facing north, then the robot should rotate to the left until the data becomes 255 CMPS03. Thus, with a very simple algorithm can be used to form a robotic navigation system that is good enough.
Unfortunately, a digital compass for 650 thousand rupiah is still to be brought from abroad and must be booked for 2-3 weeks. Hopefully with the development of robotics technology in the country, digital compass, and other robotics devices can be easily obtained. So the world of robotics Indonesia could grow more rapidly.
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