Hadi, Sirojul (2019) Sistem Formasi Leader-Follower Multi-Mobile Robot untuk Mencari Sumber Kebocoran Gas. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Ada beberapa gas yang dapat membahayakan kesehatan manusia. Gas elpiji atau gas methane adalah salah satu gas yang berbahaya bagi kesehatan manusia. Apabila gas tersebut masuk ke dalam tubuh manusia maka akan menyebabkan sesak nafas sampai kehilangan kesadaran. Oleh karena itu, dibutuhkan alat yang dapat mencari sumber keboran gas. Dalam penelitian ini dibangun suatu sistem leader-follower multi-mobile robot yang digunakan untuk mencari sumber kebocoran gas. Sekelompok robot tersebut dapat membentuk suatu formasi huruf V dengan memilih leader dan follower dari kelompok mobile robot. Ada tiga robot yang digunakan dalam membentuk formasi. Ide pembentukan formasi leader-follower ini bertujuan agar mobile robot tidak mudah kehilangan arah dari sumber gas. Jika menggunakan satu mobile robot maka akan mudah kehilangan arah dari sumber gas apabila terjadi perubahan arah dari sumber gas. Arah aroma dari gas akan sangat mudah berubah jika tertiup angin. Algoritma formasi leader-follower menggunakan metode Particle Swarm Optimization (PSO) sederhana. Jarak antar robot didapatkan dari merepresentasikan nilai Receive Signal Strength Indicator (RSSI) sebagai jarak. Untuk mengontrol pergerakan dari mobile robot digunakan metode Fuzzy Logic Control (FLC). Dengan algoritma PSO, formasi kelompok mobile robot dapat mempertahankan jarak antar masing-masing robot yaitu 1 meter sampai 2 meter. Formasi dapat berubah jika pemimpin robot kehilangan arah dari sumber gas. Berdasarkan hasil 10 kali percobaan, presentase keberhasilan membentuk formasi yaitu 80% dan presentase keberhasilan menemukan sumber gas yaitu 60%. Sedangkan jika menggunakan satu mobile robot, presentase keberhasilan sebesar 30%. Oleh karena itu formasi tiga mobile robot memiliki tingkat ke efektifan yang lebih baik dibadingkan dengan hanya satu mobile robot.
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There are several gases that can endanger human health. LPG gas or methane gas is one of gas that is harmful to human health. If the gas enters the human body, it will cause shortness of breath until it loses consciousness. Therefore, robot that can find the source of gas is needed. In this study a leader-follower multi-mobile robot system was used to find the source of gas leaks. A group of robots can form a V-letter formation by selecting leaders and followers from the mobile robot group. The three robots are used in forming formation. The idea of forming a leader-follower formation is to make mobile robots easily lose their direction from gas sources. If using a mobile robot, it will be easy to lose direction from the gas source if there is a change in direction from the gas source. The direction of the aroma of the gas will be very easy to change if it's blown by the wind. The leader-follower formation algorithm uses a simple Particle Swarm Optimization (PSO) method. The distance between robots is derived from representing the value of the Receive Signal Strength Indication (RSSI). To control the movement of the mobile robot, the Fuzzy Logic Control (FLC) method is used. With the PSO algorithm, the formation of a mobile robot group will maintain the distance of each robot, which is 1 meter to 2 meters. Formations can change if the robot leader loses direction from the gas source. By 10 experiments, formation-making has reached 80% of percentage and for finding a gas source has reached 60% of percentage. On the other hand, for one mobile robot, formation-making has reached 30% of percentage. Because of that, 3-mobile robot formation is more effective than by using one mobile robot.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.82 Had s-1 2019 |
| Uncontrolled Keywords: | Formasi Leader-Follower, Particle SWarm Optimization, Fuzzy Logic Control, Gas Sensor |
| Subjects: | Q Science > Q Science (General) > Q337.3 Swarm intelligence Q Science > QA Mathematics > QA336 Artificial Intelligence T Technology > TA Engineering (General). Civil engineering (General) > TA1573 Detectors. Sensors T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Hadi Sirojul |
| Date Deposited: | 09 Aug 2021 02:52 |
| Last Modified: | 09 Aug 2021 02:52 |
| URI: | http://repository.its.ac.id/id/eprint/61118 |
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