Pengaturan Formasi Robot Mobil Berdasarkan Pendekatan Virtual Structure dengan Penghindaran Rintangan

Apriyanto, Anang (2018) Pengaturan Formasi Robot Mobil Berdasarkan Pendekatan Virtual Structure dengan Penghindaran Rintangan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Bekerja dalam formasi memiliki beberapa keuntungan diantaranya bisa mengurangi biaya, meningkatkan ketahanan dan meningkatkan efisiensi sistem. Pada tugas akhir ini dirancang suatu sistem pengaturan formasi menggunakan pendekatan virtual structure dengan penghindaran rintangan menggunakan metode artificial potential field. Robot ditugaskan untuk membentuk formasi (berupa bentuk V-terbalik atau belah ketupat), bergerak dalam formasi menuju titik tujuan, menghindari tabrakan antar robot, dan menghindari tabrakan dengan rintangan. Tabrakan antara robot dengan objek lain (robot lain atau rintangan) dapat terhindari apabila jarak antara keduanya berada pada jarak aman yaitu diatas 5 cm. Sistem hasil rancangan memanfaatkan posisi relatif robot dan jarak antara robot dengan rintangan di sekitarnya. Hasil simulasi menunjukkan robot berhasil membentuk formasi sesuai dengan yang diinginkan. Jarak terdekat antar robot dan jarak terdekat antara robot dengan rintangan berturut-turut adalah 5,228 cm dan 5,2349 cm. ============================================================================================================= Moving in formation have so many benefits such as reducing the system cost, increasing system reliability and efficiency. In this final project, a formation control system is proposed. The formation control is based on virtual structure approach, while the obstacle avoidance is based on artificial potential field method. Robot is given task to form a formation (inverted V or rhombus shape), maintaining formation shape while moving to goal point, avoiding collision with other robots, and avoiding collision with obstacles. Collision with another object (another robot or obstacle) can be avoided if the distance between robot and robot and the obstacle is greater than 5 cm. The system proposed uses information such as robot relative positions and distance between robot and obstacles. Simulation results show that robots succeed at forming the desired formation. The closest interrobot distance and the closest robot-to-obstacle distance is 5.228 cm and 5.2349 cm, respectively.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Pengaturan formasi, formation tracking, consensus, penghindaran rintangan
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Anang Apriyanto
Date Deposited: 27 Mar 2018 03:14
Last Modified: 27 Mar 2018 03:40
URI: http://repository.its.ac.id/id/eprint/50106

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