Akbar, Nafian Falah (2026) Integrasi Dynamic Window Approach untuk Optimalisasi Navigasi Mobile Robot Berbasis SLAM. Other thesis, Institut Teknologi Sepuluh Nopember.
![[thumbnail of 5022211232-Undergraduate_Thesis.pdf]](http://repository.its.ac.id/style/images/fileicons/text.png) |
Text
5022211232-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (3MB) | Request a copy |
Abstract
Robot mobile otonom memiliki peran penting dalam pemetaan dan navigasi mandiri di lingkungan indoor yang kompleks, seperti koridor rumah sakit ataupun area kampus. Penelitian ini bertujuan untuk mengevaluasi dan menyetel sistem navigasi lokal berbasis Dynamic Window Approach (DWA) pada robot layanan RISSA, pengembangan dari robot RAISA buatan ITS, yang menggunakan SLAM dan ROS2 Navigation Stack (Nav2). Metode yang digunakan berupa eksperimen di lingkungan indoor, diawali dengan pengujian akurasi sensor utama (IMU, LiDAR, kamera Intel RealSense, dan odometri), pemetaan menggunakan SLAM, kemudian pengujian navigasi lokal DWA pada beberapa skenario tanpa rintangan, rintangan statis, dan rintangan dinamis. Hasil pengujian menunjukkan bahwa LiDAR dan odometri cukup stabil sebagai dasar pemetaan dan navigasi, sedangkan sensor depth RealSense cenderung mengukur jarak lebih besar dari jarak sebenarnya sehingga lebih tepat digunakan sebagai sensor pendukung. Penyelarasan parameter DWA dari Set A ke Set B menghasilkan lintasan yang lebih singkat, waktu tempuh lebih cepat, dan pola gerak yang lebih lurus, dengan performa yang mendekati kendali manual pada jalur tanpa rintangan. Secara umum, integrasi SLAM dan DWA pada robot RISSA dapat mendukung navigasi lokal yang aman dan cukup andal di lingkungan indoor.
=======================================================================================================================================
Autonomous mobile robots play a crucial role in mapping and autonomous navigation in complex indoor environments, such as hospital corridors or campus areas. This study aims to evaluate and fine-tune the Dynamic Window Approach (DWA)-based local navigation system on the RISSA service robot, a development of the RAISA robot made by ITS, which uses SLAM and ROS2 Navigation Stack (Nav2). The method used is an experiment in an indoor environment, starting with testing the accuracy of the main sensors (IMU, LiDAR, Intel RealSense camera, and odometry), mapping using SLAM, then testing the DWA local navigation in several scenarios without obstacles, static obstacles, and dynamic obstacles. The test results show that LiDAR and odometry are quite stable as a basis for mapping and navigation, while the RealSense depth sensor tends to measure distances greater than the actual distance so it is more appropriate to be used as a supporting sensor. Aligning the DWA parameters from Set A to Set B results in shorter trajectories, faster travel times, and straighter motion patterns, with performance approaching manual control on obstacle-free paths. In general, the integration of SLAM and DWA on the RISSA robot can support safe and fairly reliable local navigation in indoor environments.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | autonomous mobile robot, Dynamic Window Approach, SLAM, ROS2, Nav2, navigasi lokal, robot RISSA, LiDAR, autonomous mobile robot, Dynamic Window Approach, SLAM, ROS2, Nav2, local navigation, RISSA robot, LiDAR |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering |
| Depositing User: | Nafian Falah Akbar |
| Date Deposited: | 30 Jan 2026 09:15 |
| Last Modified: | 30 Jan 2026 09:15 |
| URI: | http://repository.its.ac.id/id/eprint/131274 |
Actions (login required)
 |
View Item |