MiRoSoT Robot movement is influenced by the speed control from right and left wheels. Wheels speed control on MiroSot robot is determined by parameter PID (Proportional Integral and Derevative) value. PID value determined by robot position and angle. MiroSot robot movement is still not stable and can not move in accordance with the instruction have been made. Instability of the robot movement in the game is affected by friction wheels against the ground, friction gear and robot load. In this study, implemented a gyroscope and accelerometer sensors to stabilize robot movement. Based on both sensors are controlled by using a microcontroller ATmega64. Speed control system based on gyroscope and accelerometer sensor is obtained that the robot is able to face a certain angle more precisely. The accelerometer sensor is used as a parameter for the braking system, so the robot is able to move more stable without the loss of power from the motor during a reduction speed from the strategy control.
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