Simulasi Sistem Auto-Docking I-Car Menggunakan Ros 2 Navigation Stack 2

Laudra, Ben Bryan (2022) Simulasi Sistem Auto-Docking I-Car Menggunakan Ros 2 Navigation Stack 2. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Otonom robot mobil atau I-Car merupakan salah satu teknologi robotika yang sedang dikembangkan saat ini. Salah satu sistem yang penting dalam I-Car adalah sistem auto-docking. Sistem auto-docking adalah sistem yang memungkinkan robot untuk melakukan pengisian daya secara mandiri dengan kembali ke stasiun pengisian daya (docking station) ketika tingkat baterai rendah atau setelah menyelesaikan tugas. Penelitian ini bertujuan untuk merancang dan mensimulasikan sistem auto-docking pada I-Car menggunakan ROS 2 dan Navigation Stack 2. Dalam simulasi ini, robot akan menggunakan sensor LiDAR untuk mendeteksi lingkungan dan docking station serta algoritma path planning untuk menavigasi robot menuju docking station. Berdasarkan hasil simulasi, sistem yang dirancang mampu melakukan navigasi secara otonom menuju docking station dengan tingkat keberhasilan yang tinggi. Algoritma navigasi yang digunakan terbukti efektif dalam menghindari rintangan statis dan mencapai target dengan akurasi yang baik. Hasil simulasi ini diharapkan dapat menjadi dasar pengembangan sistem auto-docking pada I-Car fisik di masa depan.
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Autonomous mobile robot or I-Car is one of the robotics technologies that is currently being developed. One of the important systems in I-Car is the auto-docking system. An auto-docking system is a system that allows the robot to perform autonomous charging by returning to the docking station when the battery level is low or after completing a task. This research aims to design and simulate an auto-docking system for I-Car using ROS 2 and Navigation Stack 2. In this simulation, the robot will use a LiDAR sensor to detect the environment and the docking station, as well as path planning algorithms to navigate the robot to the docking station. Based on the simulation results, the designed system is capable of navigating autonomously to the docking station with a high success rate. The navigation algorithm used proved effective in avoiding static obstacles and reaching the target with good accuracy. The results of this simulation are expected to be the basis for developing an auto-docking system for physical I-Car in the future.

Item Type:	Thesis (Other)
Additional Information:	RSE 629.220 289 Lau s-1 2022
Uncontrolled Keywords:	I-Car. ROS 2. Auto-docking. Navigation Stack 2.
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:	Mr. Marsudiyana -
Date Deposited:	15 Jun 2026 01:14
Last Modified:	15 Jun 2026 01:14
URI:	http://repository.its.ac.id/id/eprint/133786

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