Maulidani, Ardhika (2023) Implementasi Path Planning Pada Robot Servis Menggunakan Algoritma A Star. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Dalam bidang pelayanan, penggunaan tenaga manusia untuk melakukan tugas yang bersifat repetitif perlahan mulai dikurangi dan digantikan dengan suatu sistem yang dapat berjalan secara mandiri layaknya robot servis. Dalam melaksanakan tugasnya, robot servis diharuskan dapat bermanuver dengan tepat untuk menghindari rintangan statis atau bergerak dan mencapai targetnya secara optimal. Algoritma perencanaan rute untuk menemukan dan merencanakan rute dari posisi robot servis saat ini menuju ke lokasi tujuan tanpa mengenai rintangan menjadi tantangan tersendiri dalam pengembangan robot servis. Maka dari itu, pada penelitian ini diusulkan sistem path planning dengan algoritma A Star (A*) yang dapat membuat rute optimal yang dapat diimplementasikan pada robot servis. Performa dari algoritma A Star dianalisis dengan melakukan pengukuran panjang rute, jumlah belokan dan waktu komputasinya. Metode berbasis sampling akan digunakan sebagai pembanding panjang rute dan waktu komputasi untuk menentukan performa path planning menggunakan A* pada robot servis. Dari hasil penelitian ini, didapatkan error sebesar 0.13 meter untuk sumbu x dan 0.17 meter untuk sumbu y. Rute yang telah teroptimisasi memiliki jumlah belokan 59% lebih sedikit dibandingkan metode tanpa modifikasi cost factor.
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In the service sector, the use of human power to perform repetitive tasks is slowly being reduced and tied to a system that can run independently like a service robot. In carrying out its work, service robots are required to be able to maneuver properly to avoid static or moving obstacles and reach their targets optimally. The route planning algorithm to find and plan a route from the current service robot position to the destination location without obstacles is a challenge in the development of service robots. Therefore, this research proposes a path planning system with the A Star (A*) algorithm which can create optimal routes that can be implemented on service robots. The performance of the A Star algorithm is analyzed by measuring the length of the route, the number of turns and the processing time. The sampling-based method will be used as a comparison of route length and processing time to determine performance path planning using A* on service robots. From the results of this study, a RMSE of 0.13 meters was obtained for the x-axis and 0.17 meters for the y-axis. The optimized route has 59% fewer turns than the unmodified method.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | A Star, Path Planning, Robot Servis, Service Robot |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Ardhika Maulidani |
| Date Deposited: | 24 Jul 2023 04:07 |
| Last Modified: | 24 Jul 2023 04:07 |
| URI: | http://repository.its.ac.id/id/eprint/99087 |
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