Implementation Goalkeeper Robot's Movement Response With Odometry Use PID Method

The Indonesian Wheeled Soccer Robot Contest (KRSBI Wheeled) is an intended activity for event competition design build and engineering in the field robotics In games Wheeled Soccer Robot Contest this have destination main that is put the ball in goal opponent. Guard Robot goal on duty as defense final from a team on duty dispel or blocking the ball so as not enter to goal alone. Forget nice response so used an odometry with PID method which is method for determine position something system instrumentation with characteristics any feedback or bait back consisting of from some parameters are proportional, integral, and derivative. PID control that is applied using the Ziegler Nichols type 2 PID tuning method with Kp value of 4.2, a Ki value of 13.333 and a Kd value of 0.330. Based on the overall testing of the goalkeeper robot using PID control odometry, the robot is able to block the ball perfectly with a presentation of 93.4%.