Kontrol Pembagian Tugas Dan Path Planning Pada Automated Guided Vehicle Untuk Jalur Logistik Gudang Menggunakan Algoritma Token Passing

Ramadhan, Jahfal Fadhil (2025) Kontrol Pembagian Tugas Dan Path Planning Pada Automated Guided Vehicle Untuk Jalur Logistik Gudang Menggunakan Algoritma Token Passing. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan untuk mengembangkan dan mensimulasikan strategi kontrol sistem multi-agen yang efisien dalam pembagian tugas dan perencanaan jalur untuk Automated Guided Vehicle (AGV) di lingkungan logistik gudang. Sistem AGV ini menggunakan algoritma Token Passing sebagai metode alokasi tugas, di mana setiap robot mendapatkan tugas berdasarkan aturan yang mempertimbangkan endpoint jalur untuk menghindari deadlock. Selain itu, metode ini diintegrasikan dengan teknik optimasi tambahan, termasuk estimasi waktu pengambilan tugas dan relaksasi jalur yang memungkinkan pergerakan robot melalui titik endpoint tertentu untuk meningkatkan efisiensi penggunaan ruang gudang. Dalam penelitian ini, faktor kepadatan lalu lintas robot juga diperhitungkan untuk mengurangi kemungkinan kemacetan dan tabrakan dengan mempertimbangkan jumlah agen yang melewati area tertentu dalam periode waktu tertentu. Pendekatan ini diuji secara eksperimental pada skenario gudang dengan berbagai konfigurasi jalur dan kepadatan tugas.
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This research aims to develop and simulate an efficient multi-agent system control strategy in task distribution and path planning for Automated Guided Vehicle in a warehouse logistics environment. This AGV system utilizes the Token Passing algorithm as a task allocation method, where each robot is assigned tasks based on rules that consider path endpoints to avoid deadlocks. In addition, this method is integrated with additional optimization techniques, including task retrieval time estimation and path relaxation that allow the movement of robots through specific endpoints to improve the efficiency of warehouse space usage. In this study, the robot traffic density factor is also taken into account to reduce the possibility of congestion and collisions by considering the number of agents passing through a given area in a given period of time. The approach is experimentally tested on warehouse scenarios with various path configurations and task densities.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Automated Guided Vehicle, Path Planning, Algoritma Token Passing, Pembagian Tugas, Logistik Gudang.
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T57.84 Heuristic algorithms. T Technology > T Technology (General) > T58.5 Information technology. IT--Auditing
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Jahfal Fadhil Ramadhan
Date Deposited:	25 Jul 2025 06:47
Last Modified:	25 Jul 2025 06:47
URI:	http://repository.its.ac.id/id/eprint/121483

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