Desain Dan Implementasi Kontrol Formasi Multi Mobile Robot Mecanum Leader Follower Berbasis DWA

Alam, Izza Muhammad Hanif Surya (2026) Desain Dan Implementasi Kontrol Formasi Multi Mobile Robot Mecanum Leader Follower Berbasis DWA. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5022221115-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (7MB) | Request a copy

Abstract

Penelitian ini membahas desain dan implementasi sistem kontrol formasi pada multi mobile robot mecanum dengan skema leader–follower berbasis integrasi global path planning Dijkstra dan local path planning Dynamic Window Approach (DWA). Sistem dikembangkan menggunakan platform robot Yahboom RDK X5 dan diimplementasikan pada lingkungan nyata berbasis Robot Operating System 2 (ROS2). Robot leader bertugas melakukan pemetaan dan perencanaan jalur menuju target menggunakan algoritma SLAM Cartographer, Dijkstra sebagai perencanaan jalur global, serta DWA untuk penghindaran rintangan secara lokal. Robot follower mempertahankan formasi terhadap robot leader menggunakan kontroler feedback berbasis PID yang dikombinasikan dengan sinyal feedforward dari kecepatan robot leader untuk meningkatkan respons sistem. Pengujian dilakukan pada beberapa skenario, meliputi navigasi satu agen, dua agen dengan formasi tetap, serta dua agen dengan formasi dinamis. Pada skenario formasi tetap, sistem menunjukkan kemampuan menjaga jarak relatif leader–follower dengan baik, ditunjukkan oleh error formasi rata-rata yang sangat kecil dan mendekati nol, serta error maksimum yang berada di bawah 0.9 m dengan MSE di bawah 0.1. Hal ini menandakan bahwa kontrol formasi mampu mempertahankan kestabilan posisi relatif. Pada skenario formasi dinamis, robot follower mampu beradaptasi terhadap perubahan posisi relatif secara real-time dengan error formasi rata-rata sebesar 0,1864 m dan error maksimum sebesar 0,6674 m yang terjadi sesaat pada transisi formasi dengan MSE 0.06834 . Meskipun terjadi fluktuasi kecepatan pada robot follower akibat keterlambatan pengiriman data dan perubahan lintasan robot leader, sistem tetap mampu kembali ke kondisi stabil setelah transisi.
====================================================================================================================================
This research presents the design and implementation of a leader–follower formation control system for multiple mecanum mobile robots based on the integration of Dijkstra global path planning and the Dynamic Window Approach (DWA) for local navigation. The system was developed on the Yahboom RDK X5 robot platform and implemented in a real-world environment using Robot Operating System 2 (ROS2). The leader robot performs mapping and navigation toward the target using SLAM Cartographer, Dijkstra for global path planning, and DWA for local obstacle avoidance. Meanwhile, the follower robot maintains its relative formation with respect to the leader using a PID-based feedback controller combined with a feedforward velocity signal to improve responsiveness. Experimental evaluations were conducted under single-agent navigation, fixed formation, and dynamic formation scenarios. In the fixed formation case, the system successfully maintained stable relative positioning, characterized by an average formation error close to zero, a maximum error below 0.9 m, and an MSE below 0.1. In the dynamic formation scenario, the follower robot was able to adapt to changes in formation in real time, achieving an average error of 0.1864 m and a maximum error of 0.6674 m during transition phases, with an MSE of 0.06834. Despite temporary velocity fluctuations caused by communication delays and trajectory replanning, the system consistently returned to stable operation after transitions.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Multi Mobile robot, Leader-Follower, Mecanum Wheel, Dynamic Window Approach, Djikstra, ROS2 Multi Mobile robot, Leader-Follower, Mecanum Wheel, Dynamic Window Approach, Djikstra, ROS2.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Izza Muhammad Hanif Surya Alam
Date Deposited:	27 Jan 2026 03:09
Last Modified:	27 Jan 2026 03:09
URI:	http://repository.its.ac.id/id/eprint/130089

Actions (login required)

View Item