Implementation of Distance-Measuring System Using Ultrasonic to be used in an Autonomous Human-Following Luggage Robot

Abstract

In this research, ultrasonic sensors are implemented to measure distances for an
autonomous human-following luggage robot. The system consists of the luggage robot and the
wireless transmitter device which is held by the person acting as a target. The robot is equipped
with two ultrasonic sensors mounted on the top of it, acting only as receivers, two DC motors to
drive the robot, and an Arduino board acting as microcontroller. Meanwhile, the transmitter
device has one ultrasonic sensor. The luggage robot is designed to follow the person by
following the signals sent by the transmitter device. In order to determine the direction of the
target, a microcontroller is used to measure time difference of the signals received by the
receivers mounted on the top of the luggage. A program is developed to compute the direction
and distance to where the robot should move according to the transmitter device. The
microcontroller then controls the motors through the H Bridge to make speed adjustment on
both motors according to the direction of movement.