Kontrol Pembagian Tugas Multiagen Menuju Multitarget Dengan Penghindaran Halangan Menggunakan Artificial Potential Field

Hage, Giselle (2023) Kontrol Pembagian Tugas Multiagen Menuju Multitarget Dengan Penghindaran Halangan Menggunakan Artificial Potential Field. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Seiring dengan meningkatnya kompleksitas lingkungan medan tempur modern dan persyaratan tugas, peneliti mulai mengembangkan penggunaan multiagen untuk menyelesaikan tugas tertentu. Dalam beberapa tahun terakhir, kontrol kooperatif sistem multiagen telah menjadi topik penelitian yang hangat di bidang kontrol penerbangan. Multiagen telah banyak diaplikasikan untuk pengawasan (surveillance) target karena memiliki jangkauan pandangan yang luas dan dapat mengakses tempat yang sulit dijangkau oleh tipe kendaraan lainnya. Salah satu contoh problema riil yang perlu dihadapi oleh multiagen dapat dimodelkan sebagai permasalahan kontrol pengawasan target. Sekelompok agen ditugaskan untuk melacak multitarget pada suatu wilayah tertentu, membagi tugas untuk masing-masing agen, menghindari tabrakan ataupun rintangan, dan menuju semua titik target yang ada. Pada tugas akhir ini, dirancang suatu strategi supaya quadcopter dapat menyelesaikan tugas-tugasnya dengan menggunakan pendekatan modified APF (MAPF) dan virtual APF (VAPF). Hasilnya, MAPF dapat menghindari halangan dan membagi tugas antaragen lebih baik di lingkungan yang kompleks, sementara VAPF dapat menghasilkan total jalur yang lebih sedikit dengan waktu lebih cepat pada lingkungan yang tidak terlalu kompleks
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As the complexity of modern battlefield environments and task requirements increases, researchers are beginning to develop the use of multiagents to accomplish specific tasks. In recent years, cooperative control of multiagent systems has become a hot research topic in the field of flight control. Multiagents have been widely applied for target surveillance because they have a wide field of view and can access places that are difficult to reach by other types of vehicles. One example of a real problem that needs to be faced by multiagents can be modeled as a target disclosure control problem. A group of agents is assigned to track multiple targets in a certain area, divide tasks for each agent, avoid collisions or obstacles, and go to all existing target points. In this final project, a strategy is designed so that drones can complete their tasks using an artificial potential approach in the field. In this final project, a strategy is designed so that the quadcopter can complete its tasks using the modified APF (MAPF) and virtual APF (VAPF) approaches. As a result, MAPF can avoid obstacles and divide tasks between agents better in complex environments, while VAPF can generate fewer total paths in a faster time in less complex environments.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Multiagent, Obstacle Avoidance, Task Allocation, Artificial Potential Field, Multiagen; Pembagian Tugas, Penghindaran Halangan,
Subjects:	Q Science > Q Science (General) > Q337.3 Swarm intelligence Q Science > QA Mathematics > QA336 Artificial Intelligence
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Giselle Hage
Date Deposited:	01 Feb 2024 04:02
Last Modified:	01 Feb 2024 04:02
URI:	http://repository.its.ac.id/id/eprint/105866

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