Design of Multi Robot AGV Prototype Maneuver Control Based on Inverted Camera

In this research, a prototype navigation system for the AGV robot has been created. The sensor used is the Pixy2 CamCMU5 vision sensor. The cameraman is kept upside down on the ceiling. The height between the camera and the target is 1 meter. The vision sensor is used to detect the position of the robot and the target. Robots and targets will be given a color as a marker of position and direction. The approach used is to calculate the size of the angle and the length of the vector. From this value will then be sent to the microcontroller for processing. The microcontroller used is Arduino Mega. After that the data will be sent to the NRF and then sent to the robot in the form of the left motor speed (Vl) and the right motor (Vr). Based on target detection trials, the best lighting is obtained at values of 82 - 121. In its implementation, the pixy camera is not recommended because of the low detection distance and easily disturbed by changes in light.