2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA) | 978-1-6654-5594-7/22/$31.00 ©2022 IEEE | DOI: 10.1109/TSSA56819.2022.

10063898

Proceeding of
2022 The 16th International Conference on Telecommunication Systems
Services and Applications (TSSA2022)
October 13-14, 2022
Bali, Indonesia

ISBN:
978-1-6654-5594-7 (XPLORE COMPLIANT)
2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA) | 978-1-6654-5594-7/22/$31.00 ©2022 IEEE | DOI: 10.1109/TSSA56819.2022.10063915

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 Table of Content
Fuzzy Logic Control for Modeling Multi Robot AGV Maneuver Based on Inverted Camera
2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA) | 978-1-6654-5594-7/22/$31.00 ©2022 IEEE | DOI: 10.1109/TSSA56819.2022.10063882

Aan Eko Setiawan, Angga Rusdinar, Syamsul Rizal, Rina Mardiati, Abdul Wasik and Eki Ahmad Zaki
Hamidi

Speed Control System of BLDC Motor Based on DSP TMS320F28027F

Rifal Faturrohman, Nanang Ismail and Mufid Ridlo Effendi

Power Monitoring System of Home-scale Internet of Things (IoT

Sulhan Saharo, Eki Ahmad Zaki Hamidi, Rin Rin Nurmalasari

Design of 3D Printed Slotted Waveguide Antenna Array by Using Composite Material for Frequency
S-Band
Nadya Glaudira and Joko Suryana

Simulation and Analysis Optimization Ku-Band Satellite Transponder

Iskandar Iskandar and Rustanto Rustanto

On the Design of Dual-Band Microstrip Antenna with U-Slot for 5G Applications

Taopik Romdoni, Nanang Ismail and Levy Olivia Nur

Design and Control of Swerve Drive Mechanism for Autonomous Mobile Robot
Muhammad Haniff, Hendri Maja Saputra, Catur Hilman A.H.B. Baskoro, Saip Ardo Pratama and Eki
Ahmad Zaki Hamidi

Statistical and Spectral Feature Extraction of Oryzias Celebensis Heart Rate

Putra Wisnu Agung Sucipto, Khusnul Yaqin, Muhammad Amin Bakri, Setyo Supratno, Annisa
Firasanti and Eki Ahmad Zaki Hamidi

Interest Flooding Attack in Named Data Network: Case Study on Palapa Ring Topology
Jupriyadi Jupriyadi, Syaiful Ahdan, Adi Sucipto, Eki Ahmad Zaki H., Hasan Nur Arifin and Nana
Rachmana Syambas

Table Information Extraction Using Data Augmentation On Deep Learning And Image Processing
Izuardo Zulkarnain, Rin Rin Nurmalasari and Fazat Nur Azizah

Modification of Monopole Flower-Shaped Patch Ultra-Wideband Antenna for Communication

Systems
Nurul Fahmi Arief Hakim, Azwar Mudzakkir Ridwan and Tommi Hariyadi

Pending Interest Table (PIT) Performance Analysis in Named Data Networking on Palapa Ring
Topology
Adi Sucipto, Jupriyadi Jupriyadi, Syaiful Ahdan, Eki Az Hamidi, Hasan Nur Arifin and Nana
Rachmana Syambas

Road Segmentation with U-Net Architecture Using Jetson AGX Xavier For Autonomous Vehicle
Gunawan Gunawan, Muhammad Fikri Fadillah, Esa Prakasa, Bambang Sugiarto, Teguh Nurhadi
Suharsono and Rini Nuraini Sukmana
Selective Six-Pole Microstrip Bandpass Filters for 4G Applications
Ghaith Mansour, Faisel Tubbal, Ekasit Nugoolcharoenlap, Mana Abu Dirbalah, Raad Raad and
Wajid Ali Khan

Application of Certainty Factor Method to Diagnose Venereal Diseases Using Confusion Matrix For
Multi-Class Classification
Sumiati Sumiati, Eugenia Audrey, Lia Kamelia and Agung Triayudi

Performance Enhancement of 13.56 MHz Crystal Oscillator with Component Optimization for
Wireless Power Charging
Dinda Prameswari, Azwar Mudzakkir Ridwan, Eki Ahmad Zaki Hamidi, Nurul Fahmi Arief
Hakim, Arip Budiman and Ahmad Fairozi

Design Microstrip Patch Ground Mirror Rectangular Slit Horizontal Antenna As DTV Antenna
Receiver
Sri Marini, Abdul Hafid Paronda, Andi Hasad, Sukwati Dewi Asrika, Muhammad Ilyas Sikki,
Muhammad Fikri Bivani Al Qohar, Muhammad Viki Nisfani Al Azis and Eki Ahmad Zaki Hamidi

Antenna Design for V2X Application in 5G Network

Vina Amalia Fitrianingrum and Joko Suryana

Effect of Different Locations of Millimeter Wave HAPS on the Downlink Sum Rate
Dwi Harinitha, Irma Zakia, Iskandar and Adit Kurniawan

A Web-Based Accounting Information System Application using CodeIngniter Framework: (A Case

Study Approach
Aryanti Ratnawati, Endah Kartikasari, Audita Setiawan, Ketut Abimanyu Munastha, Bambang
Susanto and Bambang Rustandi

Design of Monitoring System for Water Levels and Turbidity Water Canals Based on NodeMCU
Ayu Rosyida Zain, Maria Agustin, Prihatin Oktivasari, Nur Fauzi Soelaiman, Muhammad Fatih
Fahroji

Comparison of Reconstruction Algorithm on Sparse Representation based Classification (SRC) for

Face Recognition
Susmini Indriani Lestariningati, Andriyan Bayu Suksmono, Koredianto Usman, Ian Joseph Matheus
Edward and Dewi Iswaratika

Prototype Sorting Items for Disinfection Sterilization Using Smart Relay

Nivika Tiffany Somantri, Mughofa Zani, Azwar Mudzakkir Ridwan, Naftalin Winanti and Dede
Furqon Nurjaman

Smart Greenhouse System for Cultivation of Chili (Capsicum Annum L.) with Raspberry Pi 3B Based
on MQTT Protocol
Muhammad Alvito Aditya, Nur Rokhman, Mufid Ridlo Eff, Sugih Gumilar, Padlan Alqinsi and
Nanang Ismail

Security and Risk Assessment of Academic Information System By Using NIST Framework (A Case
Study Approach
Rangga Satria Perdana, Asep Effendy, Hendra Garnida, Abdul Fidayan, Femmy Nazar and Didin
Saepudin
Individual And Eligibility Verifiability Method For Verification Mechanism of Voter On E-Voting
System
Teguh Nurhadi Suharsono, H.R. Ricky Agusiady, Rini Nuraini Sukmana, Gunawan Gunawan,
Wahyudi Wahyudi and R. Rita Avianty

Design of Torque Controller Based on Field Oriented Control (FOC) Method on BLDC Motor
Ruli Jauhar, Nanang Ismail and Nike Sartika

Classification of interfaces on Named Data Networking Using machine learning

Ratna Mayasari, Nana Rachmana Syambas and Eueung Mulyana

Utilization of PLC control on pneumatic powered tofu press machine

Wisnu Wijaya, Dian Rosdiana, Mohamad Agus Fhaizal, Asep Apriyani, Winardi Sani dan Ricky
Agusiady

News Classification Based On News Headline Using SVC Classifier

Goldius Leonard, Fukriandy Sisnadi, Nicholas Vigo Wardhana, Muhammad Abdul Aziz Al-Ghofari,
Abba Suganda Girsang

Wireless Position Control of an Electric Power Steering System for Energy Optimization
Rina Ristiana, Rina Mardiati, Sunarto Kaleg, Abdul Hapid, Alexander Christantho Budiman, Aam
Muharam, Sudirja, Amin, Kristian Ismail

Gamification Implementation in The Learning Media for Waste Separation

Rini Nuraini Sukmana, Andessya Julian Pradinda, Teguh Nurhadi Suharsono, Gunawan Gunawan
and Riffa Haviani Laluma

Wideband Quadrature Coupler Implementation for a Balanced S Band Amplifier

Muhammad Rizqi, Nuh Theofilus Dwi Putra Hardjowono, Joko Suryana and Ahmad Izzuddin

Design and Implementation of UAV Remote Control and Monitoring in Cloud Infrastructure for IoT
Services
Agil Fuad Gumelar, Nadifa Rose Rachmawati, Nathan Tenka, Vieri Fajar Firdaus, Mochammad Faiq
Al-Harits, Nana Rachmana Syambas and Sulthon Furqandhani Araska

Cascade PID Control Loop Implementation For Liquid Tank Level in LabVIEW PC-Based Control
Using Arduino Mega as Data Acquisition
Dede Irawan Saputra, Aditiya Eko Pambudi, Asep Najmurrokhman, Zul Fakhri, Nenny Hendajany
and Didin Saepudin

Fire Fighting Robot Using Flame Detector and Ultrasonic Based on Fuzzy Logic Control
Rofid Komarul Ikbar, Edi Mulyana, Rina Mardiati and Rin Rin Nurmalasari

Design of Bias Tee for an S Band Power Amplifier

Muhammad Rizqi, Nuh Theofilus Dwi Putra Hardjowono, Joko Suryana and Ahmad Izzuddin

Factors That Affect The Effectiveness of Management Accounting Software

Lilis Puspitawati, Hanhan Hanafiah Solihin, Sukadwilinda Sukadwilinda, Ivany Syarief, Dody
Kusmana and Cecep Deni Mulyadi
Comparative Analysis of Network Congestion on IP and Named Data Networking
Hasan Nur Arifin, Nana Rachmana Syambas, Jupriyadi Jupriyadi, Eki Ahmad Zaki Hamidi and Adi
Sucipto

Wireless Interface Communication System On Water Level Monitoring Device Using NRF24L01+
PA LNA Transceiver Module
Adhitya Naufal Firdaus, Kusmadi Kusmadi, Nina Lestari, Bambang Susanto, Slamet Risnanto and
Erna Garnia

QGIS Implementation For Assesing Stock Estimation Of Blue Carbon On Seagrass Ecosystem (A
Case Study Approach
Muhammad Aliq Khalingga, Yudi Nurul Ihsan, Subiyanto, Aryanti Ratnawati, Sheila Zallesa, Ketut
Abimanyu Munastha

Load Balancing on Named Data Networking, Case Study: UIN Topology in Indonesia
Eki Ahmad Zaki Hamidi, Syaiful Ahdan, Jupriyadi Jupriyadi, Adi Sucipto, Hasan Nur Arifin and
Nana Rachmana Syambas

On The Design of Object Stamping System Using Electro-Pneumatic Based on PLC OMRON CP1E
Agung Tri Wahyudi, Taufik Ramadhan, Fadli Afdhalash Adam, Nanang Ismail, Feri Rivaldi and
Mufid Ridlo Effendi

Implementation of 80MHz NodeMCU Lolin for Realtime Precision Maintenance Scheduler CPS
Calculation on a Volvo In-Line D16C610 Engine
Aditya Kurniawan, Kholilatul Wardani and Eki Ahmad Zaki Hamidi

An Automatic Sorting Machine Using Weight Sensor and Moisture Content Measurement for Sweet
Potatoes
Nina Lestari, Daffa Akbar Badri, Ahmad Khadafi, Ketut Abimanyu Munastha, Ivany Sarief and Wisnu
Wijaya

Joint Synchronization and Channel Equalization of Preamble-based GFDM

Vincent Vincent and Effrina Yanti Hamid

Performance Evaluation of 3 DOF Arm Robot With Forward Kinematics Denavit-Hartenberg Method
For Coffee Maker Machine
Hardy Purnama Nurba, Deden Hadian, Nina Lestari, Ketut Abimanyu Munastha, Hartuti
Mistialustina and Eva Rachmawati

Design of Multi Robot AGV Prototype Manuever Control Based on Inverted Camera
Aan Eko Setiawan, Angga Rusdinar, Syamsul Rizal, Rina Mardiati and Eki Ahmad Zaki Hamidi

Interference Analysis between LEO and GSO Satellites at Ku Band Frequency: Case Study on
Starlink and Telkom-3S
Agus Susanto and Iskandar Iskandar

Time Sorting Method for TOA-Based 3D Hyperbolic Positioning System

Haifa Nabila, Aisyah Novfitri, Raisah Nur Afifah
Autonomous Vehicle Guided with RFID Position Detection for Warehouse Management System
Rudy Gunawan, Parama Dicki Chandra, Kusmadi Kusmadi, Ade Geovania Azwar, Nurwathi
Nurwathi and Slamet Risnanto

Two-Axis Balancing System for Ship-Table Based on The Proportional Integral Derivative Controller
(PID) Methods
Hendra Noor Aditya, Rina Mardiati and Lia Kamelia

Security Implementation of Wifi Password Asset Sharing With One Way Hash Cryptography Method
Sha256 And QR Code
Dede Sudirman, Teguh Nurhadi Suharsono and Rina Mardiati

Analysis of UWB Wilkinson Power Divider Design Using 4-Stepped Patch and Ring Structure
Nurul Fahmi Arief Hakim, Nike Sartika, Mariya Al Qibtiya, Silmi Ath Thahirah Al Azhima, Tommi
Hariyadi and Iwan Kustiawan

IOT PROTOTYPE AIR QUALITY MONITORING USING LORA COMMUNICATION SYSTEM

ON FREQUENCY 433 MHZ
Iskandar Iskandar and Adam Baihaqi

Boarding House Water Usage Monitoring System Using Internet of Things-Based Application
Doni Pradana Wira Ambara Arifin, Rina Mardiati, Mufid Ridlo Effendi and Nike Sartika

Design of a compact antenna and rectifier for a dual band rectenna operating at 2.4 GHz and 5.8 GHz
Wajid Ali Khan, Raad Raad, Faisel Tubbal and Ghaith Mansour

Analysis Efficiency Network Performance of 4G LTE in Video Conference Applications

Dwi Pratiwi and Ian Joseph Matheus Edward

Web Dashboard Development for Cloud Server-Based Air Quality Monitoring System
Iskandar Iskandar and Via Nabila Hidayati

A PLC-BASED FLOWMETER CALIBRATION USING PID METODE

Cecep Deni Mulyadi, Ali Waliyullah Muwaffaq, Ivani Syarief, Dody Kusmana, Wisnu Wijaya and
Hanhan Hanafiah Solihin

Implementation of Geographic Information System for Road Maintenance Management Application

in Bandung Regency
Hendra Saepudin, Teguh Nurhadi Suharsono and Abdul Chalid

Double Slot Antipodal Vivaldi Structure for Ultrawideband Applications

Farrel Raditya Eduardi, Hepi Ludiyati and Hanny Madiawati

Performance of Some Frequency Reuse Schemes on LTE 900 MHz for Cell-Edge Users in Multi-
Layer LTE
Amran Paso Salmeno and Iskandar

Employing AI to Develop Green Space in Urban Area

A. Andini Radisya Pratiwi, Slamet Risnanto, Abdul Chalid, Kusmadi Kusmadi, Doni Romdhoni
Witarsa and Ketut Abimanyu Munastha
 Autonomous Vehicle Guided with RFID Position
Detection for Warehouse Management System
Rudy Gunawan Parama Dicki Chandra Kusmadi
Department of Electrical Engineering, Department of Electrical Engineering, Department of Electrical Engineering,
Universitas Sangga Buana Universitas Sangga Buana Universitas Sangga Buana
Bandung, Indonesia Bandung, Indonesia Bandung, Indonesia
rudy.gunawan@usbypkp.ac.id paramadickichandra@gmail.com kusmadi@usbypkp.ac.id
2022 16th International Conference on Telecommunication Systems, Services, and Applications (TSSA) | 978-1-6654-5594-7/22/$31.00 ©2022 IEEE | DOI: 10.1109/TSSA56819.2022.10063925

Ade Geovania Azwar Nurwathi Slamet Risnanto

Faculty of Engineering, Faculty of Engineering, Faculty of Engineering,
Universitas Sangga Buana Universitas Sangga Buana Universitas Sangga Buana
Bandung, Indonesia Bandung, Indonesia Bandung, Indonesia
ade.geovania@usbypkp.ac.id nurwathi68@yahoo.co.id slamet.risnanto@usbypkp.ac.id

Abstract—Finding the location of goods stored in the
warehouse is part of the quality of the management
warehousing system. Location goods usually always change or
reposition to rearrange space in warehouses. Changes in the
goods placement system have resulted in the location of goods
being stored in the database. Retrieval of goods from the
location requires an AGV (Automatic Guided Vehicle) which
can work automatically based on data on the position of goods
in the database. AGVs in warehouses use a lot of lanes on the
warehouse floor as road guides. A search robot in the form of
a car is developed by using data on the position of goods in the
database as the direction of the robot's destination. The robot
has Wi-Fi communication and uses RFID as a guide for the
robot's path. RFID can be placed at certain points where the
AGV needs direction assistance so that the robot does not rely
on black lines. The movement of the robot is calculated
through the actual position data from the RFID tag which is
read when the robot passes the RFID and the position data of
the item that has been given. The use of robots with the ability
to detect their actual position is in accordance with the
principles of a warehouse management system that requires
automation and real-time data. So with this robot, automatic
search media can be obtained, and improve management and
storage in warehouses.
Keywords— Robot, ESP32, RFID, Autonomos
I. INTRODUCTION
Warehousing is an essential component of your retail
supply chain. While it isn’t the most exciting topic,
warehousing and inventory storage have an impact on
everything from procuring raw materials and properly
managing inventory to sending orders to consumers on time.
Technological advances require changes to the system
running in the warehouse to be more accurate, secure and
fast data exchange. Warehouse management system is an
information that is collected automatically or manually
processed to manage the storage and retrieval of goods. The
advantages of using a warehouse management system are
ease of information about the number of goods accurately
directly, and finding the location of the stored goods,
reducing the error of taking goods, reduce manual recording
using paper. These advantages are obtained from changes to
the system for receiving and shipping goods, as well as
finding and placing goods in the warehouse.
The purpose of placing the goods has been stored in the
database according to the goods being sorted. Data items that
have been stored in the database are very helpful in the
process of changing the warehouse system into a warehouse
management system. Based on the use of the WPS (Wi-Fi
positioning system) which has been applied to the automatic
asset location determination for warehouse management
System Based on Wi-Fi Signal Strength[1] which it is
possible to know with certainty the position of an item. The
next stage to realize the warehouse management system is
the laying and retrieval of goods in the warehouse which is
carried out automatically based on the data of goods in the
database. Laying and picking up goods in the warehouse is
usually carried out by AGV. Deployment of AGV in
warehouses usually using a lot of lanes on the warehouse
floor as road guides. This method requires that there is a
special path in the warehouse for AGV in the form of a black
strip of magnetic strip or just paint.
The use of RFID (Radio Frequency Identification) as a
road marker can make the AGV less need a guide. This is
because the RFID can be placed at a certain point where the
AGV requires directional assistance. Therefore we need an
automatic delivery robot or AGV that uses RFID as a road
marker.
This research is intended to make an automatic search
robot in the form of a mobile robot. The robot can go to the
position of the goods according to the data in the database.
Robots to the position of goods assisted by RFID markers at
points on the path that the robot traversed. The RFID marker
functions as a confirmation of the robot's location at that
time, so that the robot can determine which direction it
should go next without the need to continue following the
black lead path.
The robot also has a Wi-Fi feature that is used as a user
interface to find out the robot's current position, so that the
presence and process of the robot can be tracked directly.
With the robot, it can make it easier to find goods stored in
closed warehouses that are widely used in Indonesia.
II. LITERATURE REVIEW
The position of the location of an item that is stored is an
important part of the storage of an object. Changes in
position due to warehousing arrangements allow goods to be
picked up promptly. Therefore, knowledge of the real-time
location of goods will help. Implementing Wi-Fi technology
that is placed on each item to determine the position of the
item and report it in real-time in the database will be very

978-1-6654-5594-7/22/$31.00 ©2022 IEEE

Authorized licensed use limited to: Institut Teknologi Bandung. Downloaded on March 23,2023 at 06:45:40 UTC from IEEE Xplore. Restrictions apply.
petrified [1]. The result obtained is that applying the Wi-Fi
Positioning System technology with the RSSI (Received
Signal Strength Indicator) technique requires a minimum of
3 WPS tag references with available coordinates. These
coordinates are stored in the database and can show the
position of the goods directly and accurately. RSS
technology from Wi-Fi combined with LIDAR, Encoder, and
Compass on a robot for more accurate position detection in
determining position efficiently [2].
A. Mobile Robot
Mobile robot a vehicle that can move freely in the
surrounding area is also called a mobile robot. This robot has
the ability to move independently of one location
(autonomous). The ability of mobile robots is not only to
move on the ground, but also the surface of the water, even
in the water. The operation of this robot can have several
ways. Teleoperated mode, where the robot user assesses the
sensor readings on the robot to decide the next action
according to the situation, an example of this mode is UAV
(Unmanned Air Vehicles). The next mode is autonomous
mode, where the vehicle operates without any assistance
from the user, and only uses the readings from the sensors on
the device, an example is an automatic sweeping robot[3].
The configuration used by mobile robots in general is two
type, the first is the front wheel steering configuration, this
robot is powered by the main motor on the rear wheel, and
the movement is created by the actuator on the front wheel.
The second, configuration of the speed difference steering
wheel both motor controlled individually, so that by
adjusting the speed difference on each wheel it can make the
robot spin, turn or go straight [3].
Fig. 1. Purposed mobile robot system
III. METHOD
This research is the development of a prototype mobile
robot that can move to search for goods automatically from
the goods storage warehouse based on the position data in
the database management system.
In this study, we tried to make automatic robotic
transportation with an RFID tag as a motion guide. Figure 1
shows the start process, and the destination is marked with an
RFID tag.
The robot has the main control in the form of an ESP32
which has a Wi-Fi and Bluetooth module that is used for
communication media. Wi-Fi communication is carried out
with a laptop via an internet network to a web server for
monitoring and retrieving item position data in the database.
Authorized licensed use limited to: Institut Teknologi Bandung. Downloaded on March 23,2023 at 06:45:40 UTC from IEEE Xplore. Restrictions apply.
A. Hardware Design
The prototype robot made has a size of 15 cm x 20 cm as
shown in Figure 2 The prototype is made using sensors as
input to the main controller. Sensors are used to determine
the robot's orientation to the robot's face, the robot's
orientation to the cardinal directions, and the robot's distance
to objects.
The microcontroller from the robot prototype is a place
for calculating and controlling the robot. The microcontroller
used is a complete module that already has input and output
and other additional features. The controller needed by the
robot is a microcontroller which also has wireless
communication media. This communication capability will
be utilized for the detection feature on the robot. Therefore
the author chose ESP 32 as the main control on the robot.
The advantages of the ESP32 over Arduino Uno as a
controller that is widely used are:
Orientation sensors are needed to be able to know the
direction of the robot, the orientation used in this prototype is
an orientation to the direction of the robot and orientation to
the cardinal directions. For orientation to the direction of the
robot, the Gyroscope sensor module is used. A gyroscope is
a sensor that measures rotational speed or changes in position
angle over time. The sensor module used by the author is
MPU6050. MPU6050 is a module that has 3 axis
accelerometer and 3-axis gyroscope. The gyroscope in this
module has x, y, and z axes. The Z axis is the upward-facing
axis of the module. This axis is used as an orientation by
measuring the angle that is read on the Z axis or also called
Yaw. The price of the MPU6050 module is also very cheap
compared to the MPU9250 module which has high
specifications.
For orientation to the cardinal directions, of course, a
compass is needed. The compass can determine the direction
of the north pole based on the strength of the earth's
magnetism. In this prototype, the author uses an electric
compass, namely the QMC5883L module. This module is
able to measure the earth's magnetic field and provide
direction like a compass. The low price of this module is able
to provide an accuracy of 1-2 degrees.
When this robot prototype later moves towards a
dangerous obstacle, a safety medium is needed. Proximity
sensors are needed to provide security to the robot by
measuring the distance of the robot to objects or something
in front of or behind the robot. There are several types of
proximity sensors according to the table.
The author chose to use an ultrasonic sensor because the
use of a distance sensor as safety does not require a very long
measurement distance. The very low price on ultrasonic
sensors is also very suitable for use on robotic prototypes.
The ultrasonic sensor used by the author is the HC-SR 04
which is very affordable compared to the infrared sensor
GP2Y. It will be on the robot prototype. The ultrasonic
sensor used by the author is the HC-SR04 which is very
affordable compared to the GP2Y infrared sensor.
B. RFID and Tag Reader
RFID is used in robots as a medium for guiding the robot
when it moves on its path. RFID Consists of a reader and
tag/card. RFID readers are distinguished by their working
frequency. The author uses an RFID reader which is included
in the High-Frequency range (3 – 30 MHz) and is able to
read tags up to a distance of 1.5 meters. The MFRC522 The movement of the robot will automatically run
module is used by the author as an RFID reader with an smoothly if the robot can move properly and read every tag
operating frequency of 13.56 MHz. This module is capable that is passed. If the movement of the robot is disturbed so
of reading tags up to a distance of 5 cm. The RFID reader that the movement of the robot is slightly inappropriate and
will be placed on the bottom of the robot so that it can read causes the tag that should be read to be unreadable, the robot
RFID tags from a sufficient distance. will lose its position. To overcome this, the flow chart in
Figure 3 has a sub-process that is intended to find the robot's
The RFID tag used is a sticker-shaped tag that has 1 Kb position again when the robot loses its position after some
of memory. This tag has a size of 8 cm x 5 cm. This card is a time or at its initial position.
passive type that functions at a frequency of 13.56 MHz and
can be read up to a distance of 5 cm. The sticker-shaped tag Start
is suitable for use on the warehouse floor as a robot path A
point because it has a thin shape so it is not easy to shift
when the robot passes. Wi-Fi Initiation,
Sensor and Driver, Rrobot moves based on
robot start position grid position
with RFID reader calculations

Input the position of

the goods through the
Web server, calculate N
the actual grid position Actual position grid = B
with the desired grid Target position grid
position to determine
the direction of the
robot's movement Y

(a) The robot stops, the

Robot moves according
position is reached
B to the position grid
calculation

End

RFID tag position N

data reading in Grid
form

Calculation of the actual

(b)
Fig. 2. Robot vehicle: (a) top view (b) bottom view
C. Implementation of the robot
The movement of the robot will initially determine the
initial position through the RFID tag data that is read and the
direction of the compass. The RFID tag data is in the form of
a grid position that will be compared with the RFID tag data
that is read when the robot moves.
The robot automatically searches the way to move shows
in Figure 3 :
a. The robot creates a web server via Wi-Fi when the
robot is turned on. This web server is used as input for the
robot's target position.
b. Then the robot reads the position of the robot facing
the direction of the robot through a compass and RFID tag
data to determine the robot's initial position. A gyroscope is
used to orient the robot based on the direction of the robot.
c. Then the user enters the robot's target position, then the
robot will perform calculations based on the actual position
and target position to determine the direction of the robot's
motion.
d. The robot moves according to the calculated direction,
and for every tag that is passed, the robot will do a
recalculation of the direction based on the actual position and
the target position.
e. When the actual position and the target position are
reached, the robot will stop.
position grid with the
desired grid position to
determine the direction
of robot motion
A
Fig. 3. Flowchart to find the robot's position again when the
robot loses its position.
The workings of the robot position refinding algorithm
shown in Figure 4 are:
a. The robot reads the RFID tag when it moves, if the
robot reads the tag then the robot position will search again is
not carried out, but if the robot has been moving for a certain
time and does not read the tag then the robot position will
search again is carried out.
b. If the robot does not read the tag within a certain time,
the robot will move around in a place where the longer the
circular motion will widen.
c. The rotating motion of the robot will stop if the robot
reads the tag while it is moving around.
d. After the robot stops, the robot will read the last facing
angle to the cardinal directions and perform calculations to
turn north.
e. The robot turns towards the north and then stops, then
the robot will perform calculations from the tag that is read
with the direction facing the robot at that time to determine
the direction of the next robot's movement so that the robot's
position goal is achieved.

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 START

RFID Tag under

Robot D. Motor Drive
Robot prototype made using a speed difference steering
configuration. Therefore the robot requires 2 motor drive that
RFID Tag
No
The robot moves around in circles can be adjusted in speed. The DC motor used to drive this
readable? Getting wider and wider
prototype vehicle.

No
RFID Tag
readable?

Yes

The robot stops and then turns to the Motor DC HC-SR04 MPU6050
north according to the angle of the last
robot

No
Robot Facing
North?

Yes
ESP32 MFRC522 Baterai Li-Po
Yes
Grid calculation of the actual position
with the desired position grid to
determine the direction of the robot's
motion

Robot moves based on position grid

calculation

STOP QMC5883L Tag RFID

Fig. 4. Flowchart robot automation process Fig. 5. Mobile Robot Components

Fig. 6. Schematic diagram of mobile robot

IV. RESULT
This robot prototype uses a gyroscope as a method of
determining orientation. The gyroscope on this robot works
as a measure of the angle the robot faces against the initial
robot. When the robot is first turned on, this sensor will
provide information on the direction of the robot which is
measured from the current Z axis (yaw) as 0°. The gyroscope
angle reading range on this robot is -180° to 180°. This test
aims to ensure that the robot's angle reading is in accordance
with the actual conditions facing the robot.
In Figure 8, the robot faces forward indicated by arrows
when turned on, and provides information on the angle of the
face. The robot is then rotated until the arrows face left, right,
and back. The results of reading the gyroscope values are
listed in the table.

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 constrained by something so that it cannot function
automatically. The manual control of the robot consists of
several buttons that have different functions. Manual control
of the robot is contained in the robot's web server interface
which has been described in figure.
Testing the robot's manual control buttons as shown in
table 4.5 aims to ensure the movement of the robot is in
accordance with the function of the buttons. The movement
of the robot when the buttons are pressed forward, left, right,
backward, go straight, and stop are in accordance with the
functions described in chapter 3, sub-chapter 3.4. Turn right,
Fig. 7. Gyroscope test turn left, and turn 180 buttons when used result in robotic
movements that are not in accordance with their function.
When the right turn button is pressed, the robot must rotate
The results in the table show that when the robot moves in place by 90 ° to the right, the magnitude of the turning
to the left from its initial face, the gyroscope value will go to angle will be obtained from the angle reading on the
-180°. This is evidenced by when the robot is faced to the left gyroscope. However, the results show the robot when it
it gives a gyroscope value of -89.25 ° as shown in Figure 7. rotates more than 90°.
The value of the robot's face angle obtained from the
gyroscope makes the robot able to know the robot's angle of TABLE II. MANUAL TEST RESULT
view from the initial condition of the robot's face. The yaw No. Manual Number Result Robot move
Button of Test Push Release
angle on the gyroscope is used as feedback for the robot's
1 Forward 5 Forward Stop
function when turning and moving straight. 2 Left 5 Turn Left Stop
TABLE I. GYROSCOPE TEST 3 Right 5 Turn Right Stop
No. Facing robot Gyroscope Number of 4 Backward 5 Reverse Stop
angle gyroscopes read 5 Straight 5 Go straight following the direction
1 Front 0,23 >50 kali of the last robot
2 Left -89,95 >50 kali 6 Stop 5 Stop
3 Right 90,25 >50 kali 7 Turn 180 5 Rotating in place by 180 degrees,
4 Rear 179,57 >50 kali but the actual result is past 180
degrees
A. Function Testing 8 Turn Right 5 Rotating to the right in place by 90
degrees, but the actual result is past
The robot has 2 operating modes, namely manually and 90 degrees
automatically. The manual operation is used by the user 9 Turn Left 5 Rotating to the right in place by 90
directly. While the automatic operation makes the robot can degrees, but the actual result is past
move by itself to the desired location. Tests are carried out to 90 degrees
check the movement of the robot can be in accordance with
its function. This robot testing is carried out on the robot
The turning algorithm of the robot uses the use of small,
trajectory that has been made as shown in the figure. In
intermittent turning motions that are timed and will stop
testing the robot, it is necessary to use the robot trajectory.
when the angle of the gyroscope matches the desired turning
The robot trajectory is positioned facing north as shown on
angle. This algorithm is carried out because of the use of a
the sign on the trajectory. This is done so that the robot can
robotic drive in the form of a DC motor that drives the
properly determine the direction it faces.
robot's wheels continuously. The movement of the robot's
wheels cannot be slowed down too significantly even though
it already has a gearbox on the motor. Therefore the
algorithm is used and gives results that are slightly in
accordance with the desired turning angle on several
occasions.

B. Robot Automated Control Testing

Fig. 8. Manual control interface
Manual control of the robot is used as a media for
controlling the robot by the user when the robot is
The robot moves automatically by using sensors as
direction guides and RFID as path guides. The automatic
movement of the robot depends on the purpose of the robot
entered by the user. With a position goal, the robot will move
according to directions and the robot's current position
reading from the RFID tag. When the robot moves to its
position the robot will compare the reading of the tag that has
been passed with its destination position to determine the
direction of the next robot's motion. The robot’s track is as
shown in the figure. The automatic movement of the robot
has conditions that must be met by using the robot's motion
trajectory. The robot requires an absolute direction where the
robot is facing that is with the help of the cardinal directions
of the electronic compass. Therefore, the robot's upper

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trajectory must face north, so that the robot can find out its
actual facing position. The author conducted the test in 2
ways, the first test of the robot was given a goal that was in
the direction of the robot facing, the second test of the robot
was given a different direction from the face of the robot.
Destination in a straight path is the movement of the
robot forward in a straight line in automatic mode from the
initial position to the destination position. The robot will
move from the initial position and stop according to the
destination position that is straight from the initial position.
The robot movement test is carried out from position 5 to 20
in automatic mode. Table II shows the test 5 times, there
were 2 times the robot did not reach its position. The robot
reaches its destination point not precisely at that point but
slightly missed from that point as shown in Figure 8. This is
because when the robot reads the target position tag the robot
will stop, but the DC motor as the robot's wheel drive cannot
stop instantly and causes the point to be passed. Overcome
this can be done by changing the program algorithm.
Testing the robot's objectives in different directions, 5
times the robot was ordered to move from position 5 to 14,
but the robot only succeeded 1 time. Therefore, the
percentage of success of the robot in achieving its goal is
20%. The failure of the robot to reach its destination is
influenced by the improper turning process of the robot.
Rotate the robot left or right when the automated process has
a turning angle of 90°. However, when the robot finishes
rotating, the angle reached by the robot exceeds 90° from the
robot's initial angle. The excess turning angle of the robot
either to the left or to the right is 5° - 15°.
V. DISCUSSION
The use of robots manually controlled by the user to go
to a certain position can function properly and accurately.
Sensors on the robot consist of a gyroscope, magnetometer,
and ultrasonic. Magnetometer readings are susceptible to
interference from magnetic materials that can affect
accuracy. So the reading accuracy of 1-2 degrees listed on
the datasheet is irrelevant. The ultrasonic distance sensor
reading is in accordance with the reading error of 3.09%.
The automatic movement of the robot in a straight line is
able to match the target position, but with the current
algorithm, the stop is still a little off the position tag and has
a success percentage of 60% out of 5 trials. The movement
of the automatic robot with the aim that there is a turning
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condition, has not been able to match the target position. 5
experiments carried out resulted in the success percentage of
the robot reaching a position of only 20%. The current
algorithm in the turning direction is still not in accordance
with the turning angle, the turning result of the robot still
exceeds the turning goal angle. The excess turning angle of
the robot is 5° - 15° which gives a turning error percentage of
>10%. The advantage of this turning angle is that the turning
algorithm uses small, broken movements until the turning
angle is reached.
The maximum load tested is 6 bottles of 600 ml mineral
water or about 3.6 kg and the robot is still able to move but
produces a bad sound on the motor. The ideal load that can
be transported by the robot so that the robot can still move
optimally is < 2 kg.
The algorithm for finding the initial position and finding
the robot's position when the robot loses its position during
the automatic process can be made better so that the robot's
movement can be more precise. The placement of RFID tags
can be made further in order to provide a space that is more
suitable for industrial use. An RFID reader can be added so
that the scope of tag reading is wider and making the tag
unreadable can be reduced. The database can be connected
so that the robot can immediately take the destination
position in the database.
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