Navigasi Multiagen Menggunakan Reciprocal Velocity Ibstacles Berelasi Leader Follower Dengan Tingkat Prioritas

Fachri, Moch. (2018) Navigasi Multiagen Menggunakan Reciprocal Velocity Ibstacles Berelasi Leader Follower Dengan Tingkat Prioritas. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada simulasi kerumunan, kepadatan agen dalam kerumunan menimbulkan masalah dalam pergerakan agen. Hal ini mengharuskan adanya metode navigasi khusus yang dapat memastikan manuver penghindaran yang tidak mengakibatkan kekacauan massal tanpa adanya komunikasi eksplisit antar agen. Untuk simulasi kerumunan dengan relasi leader-follower, agen follower diharuskan mampu mengikuti leader kelompoknya. Agen follower juga perlu memberikan agen leader-nya kebebasan bernavigasi, yang berarti gerakan agen follower sebisa mungkin tidak mengganggu leader-nya. Hal ini dikarenakan navigasi agen follower yang bergantung terhadap leader-nya. Reciprocal Velocity Obstacle (RVO) sebagai salah satu metode navigasi multiagen tidak memerlukan komunikasi eksplisit dengan agen lain dalam penghindaran, dan bebas dari gerak osilasi yang terjadi pada Velocity Obstacle biasa. Diharapkan dengan memakai RVO sebagai navigasi multiagen yang memiliki variasi tingkat prioritas, didapatkan simulasi kerumunan dengan relasi leader-follower yang bebas dari tabrakan, osilasi, dan kehilangan arah. =============== In crowd simulation, agents density on crowds cause problem in agents movement. This oblige a particular navigation method that can ensure the avoidance maneuver that does not result in mass chaos without any explicit communication between agents. To simulate the crowd with leader-follower relationships, agents follower is expected to follow the group leader. followers agent need to give their leader freedom of navigation, which is mean that followers movement shall not make any disturbance to their leader. This is because the navigation of agent follower depends on the leader. Reciprocal Velocity Obstacle(RVO) as one method of multi-agent navigation does not require explicit communication with other agents in avoidance, and free from oscillation movement that occur on regular Velocity Obstacle. RVO usage with variant in level of priority as multi-agents navigation is expected to bring out crowd simulation with leader-follower relationship that is free of collisions, oscillation, and loss direction.

Item Type: Thesis (Masters)
Uncontrolled Keywords: RVO (Reciprocal Velocity Obstacle); Simulasi Kerumunan; Navigasi Multi-agen; Crowd Simulation; Multi-agents Navigation
Subjects: G Geography. Anthropology. Recreation > GV Recreation Leisure > GV1469.2 Computer games
Q Science > QA Mathematics > QA76.9 Computer algorithms. Virtual Reality. Computer simulation.
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
Divisions: Faculty of Business and Management Technology > Business Management
Depositing User: Moch Fachri
Date Deposited: 20 Feb 2018 04:46
Last Modified: 20 Feb 2018 04:46
URI: http://repository.its.ac.id/id/eprint/49610

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