Balance Design on Prototype of Ship Robot Navigation System Based on PD Method For Boundary Area Security

The maritime boundary between countries is an area that are easily accessible by foreign nationals. The limited human resources as a security of the boundaries along with the very large sea area is the main problem in maintaining the discipline of maritime law in Indonesia, therefore a ship robot can be one of the solutions that will help improving the maritime law enforcement. The ship robot is an autonomous ship which all the systems are operated autonomously using ADXL345 sensor for balance. The balance system runs by tracking the object using PD control. This research presents the design of ship robot balance system which the PD control parameters of the balance are suitable with the characteristic for balance in trial and error experiment with Kp= 1 and Kd= 0,3 in forward and backward tilt conditions, also Kp= 3 and Kd= 3 in right and left tilt conditions.