Perencanaan Jalur Dan Penghindaran Rintangan Berbasis Hybrid Improve A* IFDS Dan Dwa Pada Mobile Robot

Ramadhan, Fitra (2026) Perencanaan Jalur Dan Penghindaran Rintangan Berbasis Hybrid Improve A* IFDS Dan Dwa Pada Mobile Robot. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan untuk merancang dan mensimulasikan sistem perencanaan jalur dan penghindaran rintangan pada mobile robot berbasis ROS 2 dan Gazebo dengan mengintegrasikan Improved A*, Interfered Fluid Dynamical System (IFDS), dan Dynamic Window Approach (DWA). Improved A* digunakan sebagai global path planner untuk menghasilkan jalur utama pada peta occupancy grid dua dimensi, kemudian jalur tersebut diperhalus menggunakan IFDS agar lintasan menjadi lebih kontinu dan layak digunakan sebagai referensi tracking. Selanjutnya, DWA digunakan sebagai path tracking sekaligus metode penghindaran rintangan lokal. Pengujian dilakukan pada model mobile robot Yahboom RDK X5 dengan dua tahap. Pada tahap pertama, dilakukan perbandingan kinerja A* Tradisional, A* IFDS, dan Improved A* IFDS pada grid 0,50 m, dengan hasil Improved A* IFDS berhasil menurunkan jumlah node yang dieksplorasi sebesar 59,31% serta menghasilkan jalur dengan jumlah belokan berkurang dari 12 menjadi 4 belokan dibandingkan A* Tradisional, sehingga dipilih sebagai jalur referensi global. Pada tahap kedua, dilakukan pengujian variasi bobot fungsi objektif DWA α (heading), β (clearance) , γ (velocity) dengan mengubah satu bobot pada satu waktu sementara dua bobot lainnya dipertahankan pada nilai dasar. Hasil pengujian menunjukkan bahwa bobot α = 4,6 dan β = 5,5 menghasilkan kinerja tracking terbaik dengan RMSE masing-masing sebesar 0,1623 m dan 0,2176 m, sedangkan bobot γ = 0,95 tetap dipertahankan sebagai konfigurasi baseline akhir untuk menjaga konsistensi pengujian. Dengan konfigurasi bobot tersebut, robot berhasil menyelesaikan seluruh skenario pengujian tanpa mengalami collision dengan rintangan. Dengan demikian, kombinasi Improved A* IFDS dan DWA dengan bobot fungsi objektif yang telah dituning mampu menghasilkan sistem navigasi yang halus, aman, dan efisien pada lingkungan simulasi.
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This study aims to design and simulate a path planning and obstacle avoidance system for a mobile robot based on ROS 2 and Gazebo by integrating Improved A*, Interfered Fluid Dynamical System (IFDS), and Dynamic Window Approach (DWA). Improved A* is used as the global path planner to generate the main path on a two-dimensional occupancy grid map, while IFDS is applied to smooth the generated path into a more continuous trajectory suitable for tracking. Furthermore, DWA is used as both the path tracking controller and the local obstacle avoidance method. The system was tested on a Yahboom RDK X5 mobile robot model in two stages. In the first stage, the performance of Traditional A*, A* IFDS, and Improved A* IFDS was compared on a 0.50 m grid, where Improved A* IFDS reduced the number of expanded nodes by 59.31% and decreased the number of turns from 12 to 4 compared to Traditional A*, leading to its selection as the global reference path. In the second stage, the DWA objective function weights α (heading), β (clearance), γ (velocity) were varied by changing one weight at a time while keeping the other two fixed at their baseline values. The results show that α = 4.6 and β = 5.5 produced the best tracking performance, with RMSE values of 0.1623 m and 0.2176 m respectively, while γ = 0.95 was retained as the final baseline configuration to preserve testing consistency. With this weight configuration, the robot successfully completed all test scenarios without colliding with any obstacle. Overall, the combination of Improved A* IFDS and DWA with tuned objective function weights produced a smooth, safe, and efficient navigation system in the simulated environment.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Improved A*, Interfered Fluid Dynamical System, Dynamic Window Approach, perencanaan jalur, pelacakan jalur, penghindaran rintangan, mobile robot, ROS 2, Gazebo. Improved A*, Interfered Fluid Dynamical System, Dynamic Window Approach, path planning, path tracking, obstacle avoidance, mobile robot, ROS 2, Gazebo.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Fitra Ramadhan
Date Deposited:	22 Jul 2026 07:54
Last Modified:	22 Jul 2026 07:54
URI:	http://repository.its.ac.id/id/eprint/136288

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