Trajectory Tracking Multi-Robot Menggunakan Pendekatan Penyelesaian Permasalahan Singularity

Widanis, Anggitasari Putri (2020) Trajectory Tracking Multi-Robot Menggunakan Pendekatan Penyelesaian Permasalahan Singularity. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Singularity dapat menyebabkan kontrol cluster space pada multi-robot tidak dapat bekerja karena adanya tabrakan antar robot. Ada beberapa solusi yang ditawarkan untuk menyelesaikan singularity yaitu dengan metode coupling (berdasar angular velocity roda kanan dan kiri) dan metode kontrol escaping singularity (berdasar angular velocity 1 roda). Kontrol escaping singularity lebih sederhana dari pada metode coupling dalam mengatasi singularity, karena menggunakan 1 roda pada angular velocity. Pada penelitian ini kontrol escaping singularity digunakan untuk mengendalikan multi-robot pada cluster space. Multi-robot terdiri dari 1 leader dan 2 followers (tidak rigit). Robot leader mengikuti trajectory, sedangkan robot followers mengikuti leader menggunakan cluster space untuk menjaga jarak antar robot. Hasil simulasi menunjukkan bahwa multi-robot pada cluster space dengan kontrol escaping singularity dapat menghindari tabrakan antar robot (singularity), meskipun terdapat disturbance pada robot leader.
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Singularity may cause stoppages in the cluster space controls in a multi-robot system due to collisions between the constituent robots. Solutions to the singularity problem include coupling, using the angular velocity of the right and left wheels, and escaping singularity, using the angular velocity of only one wheel. The escaping singularity method is simpler in implementation than the coupling method due to only requiring one wheel for angular velocity. The escaping singularity method is used to control a multi-robot system in the cluster space. The system consists of one leader and two followers (nonrigid). The leader robot follows a designated trajectory, while the follower robots follow the leader using the cluster space to keep their distance to each other. The simulation results show that the cluster space control for multi-robot system with escaping singularity is able to prevent collisions between robots and incur singularities even it applied disturbances in the leader robot.

Item Type:	Thesis (Masters)
Additional Information:	RTE 629.831 2 Wid t-1
Uncontrolled Keywords:	Trajectory Tracking, Multi-Robot, Singularity, Collision Avoidance, Cluster Space, Kontrol Escaping Singularity,
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1007 Electric power systems control
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Widanis Anggitasari Putri
Date Deposited:	14 Mar 2025 06:41
Last Modified:	14 Mar 2025 06:43
URI:	http://repository.its.ac.id/id/eprint/73990

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