Hermuttaqien, Nurul Ilmi Rojabia (2025) Kontrol Formasi Kooperatif Leader Following pada Multi Yahboom 4wd Menggunakan Artificial Potential Field (APF) Untuk Mencapai Target. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian ini mengembangkan algoritma kontrol formasi kooperatif berbasis leader-following pada sistem multi Yahboom 4WD menggunakan metode Artificial Potential Field (APF). APF digunakan sebagai metode navigasi untuk penghindaran rintangan dengan memanfaatkan gaya tarik (attractive force) menuju target dan gaya tolak (repulsive force) untuk menghindari rintangan. Implementasi kontrol leader-following memungkinkan robot pemimpin (leader) menentukan lintasan menuju target, sementara robot pengikut (followers) mempertahankan formasi dan menghindari rintangan. Pemodelan robot menggunakan pendekatan Skid-Steering Mobile Robots (SSMR) dengan integrasi sensor LiDAR untuk deteksi rintangan secara real-time. Penelitian dilakukan melalui simulasi komprehensif pada platform Gazebo dengan berbagai skenario pengujian. Hasil pengujian menunjukkan sistem berhasil mencapai target dengan tingkat stabilitas formasi yang tinggi. Pada formasi tiga agen berbaris, sistem mencapai stabilitas 91.4% dalam waktu 117.3 detik, sedangkan formasi segitiga mencapai 92.7% dengan Formation Maintenance Index dan Formation Stability Score di atas 0.99. Sistem juga menunjukkan kemampuan penghindaran rintangan yang efektif tanpa terjadi tabrakan pada semua skenario pengujian. Hasil penelitian membuktikan bahwa integrasi APF dengan sensor LiDAR dan kontrol formasi leader-follower mampu meningkatkan efisiensi dan keandalan sistem multi-robot dalam mencapai target.
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This study develops a cooperative formation control algorithm based on leader-following for a multi-robot system using Yahboom 4WD platforms. The Artificial Potential Field (APF) method is used for navigation and obstacle avoidance, combining attractive forces toward the target and repulsive forces to avoid obstacles. The leader-following control strategy allows the leader robot to determine the path toward the goal, while the follower robots maintain formation and avoid obstacles. The robots are modeled using the Skid-Steering Mobile Robot (SSMR) approach, with real-time obstacle detection using integrated LiDAR sensors. The system was tested through comprehensive simulations in the Gazebo environment under various test scenarios. The results show that the system successfully reached the target while maintaining high formation stability. In the line formation of three agents, the system achieved 91.4% stability in 117.3 seconds, while in the triangular formation, it achieved 92.7% stability, with both the Formation Maintenance Index and Formation Stability Score exceeding 0.99. The system also demonstrated effective obstacle avoidance, with no collisions in any of the test scenarios. These findings confirm that integrating APF with LiDAR-based sensing and leader-follower formation control improves the efficiency and reliability of multi-robot systems in target-oriented tasks.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Artificial Potential Field, Kontrol Formasi, Leader-Following, LiDAR, Multi-robot. = Artificial Potential Field, Formation Control, Leader-Following, LiDAR, Multi-robot. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Nurul Ilmi Rojabia Hermuttaqien |
| Date Deposited: | 27 Jul 2025 07:14 |
| Last Modified: | 27 Jul 2025 07:14 |
| URI: | http://repository.its.ac.id/id/eprint/121749 |
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