Autonomous mobile robot berbasis landmark menggunakan particle filter dan occupancy grid maps untuk navigasi, penentuan posisi dan pemetaan.

Utomo, Eko Budi (2015) Autonomous mobile robot berbasis landmark menggunakan particle filter dan occupancy grid maps untuk navigasi, penentuan posisi dan pemetaan. Masters thesis, Institut Teknologi Sepuluh Nopember.

[img]
Preview
Text
2212205016-Master Thesis.pdf - Published Version

Download (3MB) | Preview

Abstract

Implementasi SLAM umumnya menggunakan robot dengan sensor yang lengkap. Di penelitian ini menggunakan HBE Robocar dengan sensor terbatas untuk mengetahui keberhasilan unsur pembangun SLAM (navigation, localization dan mapping) dan solusi ideal SLAM. Ketiga unsur SLAM direalisasikan dalam simulasi dan real robot dengan sistem persepsi sensor yang berbeda. Untuk penentuan posisi diberikan peta yang diketahui dan pergerakan robot menggunakan landmark berupa bola. Robot melakukan tracking color terhadap bola untuk mendapatkan pose relative dan diproses menggunakan algoritma particle filter dengan variasi jumlah partikel. Untuk navigasi, robot menghitung jalur terdekat dari start ke goal menggunakan algoritma dynamic A*. ============================================================================================ SLAM implementation commonly using robot with multi sensor. In this research, HBE Robocar was used for understanding its SLAM Developing component (navigation, localization, and mapping) with sensor limitation and its ideal solution. All of the SLAM components were conducted in simulation and real condition of robot with different sensor perception. Localization was conducted with known map and robot movement based on landmark using the balls. Robot does color tracking on the balls to get relative pose and processed using particle filter algorithm with various of particle quantity. Navigation was conducted by calculating shortest distance from start to goal using Dynamic A*

Item Type: Thesis (Masters)
Additional Information: RTE 629.892 Uto a
Uncontrolled Keywords: Navigation, Localization, Mapping, Particle Filter, Occupancy Grid Map, Dynamic A*, Tracking Color, Landmark, Ultrasonik, Kamera, Kompas
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ799 Diesel motor--Electronic control.
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S2) Master Theses
Depositing User: Mr. Tondo Indra Nyata
Date Deposited: 12 Jun 2017 02:05
Last Modified: 12 Jun 2017 02:21
URI: http://repository.its.ac.id/id/eprint/41577

Actions (login required)

View Item View Item