Implementasi Sistem Penghindar Rintangan Berbasis Velocity Obstacle Pada Robot Servis

Aditya, Nawab (2023) Implementasi Sistem Penghindar Rintangan Berbasis Velocity Obstacle Pada Robot Servis. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot servis merupakan alat yang dapat diprogram untuk melakukan tugas servis baik secara semi atau fully autonomous di sektor selain industri manufaktur. Untuk bekerja secara fully autonomous di dalam ruangan, maka perlu adanya program obstacle avoidance untuk menghindari tabrakan dengan rintangan. Rintangan didefinisikan sebagai objek yang belum diketahui robot melalui map yang disediakan. Robot dilengkapi dengan sensor kamera stereo dan LiDAR dua dimensi. Sensor tersebut bertujuan untuk mendeteksi adanya rintangan di sekitar robot. Deteksi rintangan memanfaatkan fitur deteksi objek dari kamera stereo ZED 2idan segmentasi data point cloud memakai euclidean cluster extraction. Metode penghindar rintangan yang digunakan berbasis velocity obstacle. Dari penelitian yang sudah dilakukan, didapatkan hasil bahwa integrasi penghindaran rintangan pada robot servis berhasil diimplementasikan dengan tingkat keberhasilan mencapai 85%.
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Service robots are programmable tools designed to perform service tasks either semi-autonomously or fully autonomously in sectors other than manufacturing. In order to operate fully autonomously indoors, it is necessary to have an obstacle avoidance program to avoid collisions with obstacles. Obstacles are defined as objects that the robot is unaware of through the provided map. The robot is equipped with a stereo camera sensor and a two-dimensional LiDAR. These sensors are used to detect obstacles around the robot. Obstacle detection utilizes object detection features from the ZED 2i stereo camera and point cloud segmentation using euclidean cluster extraction. The obstacle avoidance method used is based on velocity obstacles. From the conducted research, it has been found that the integration of obstacle avoidance in service robots has been successfully implemented with a success rate of 85%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Autonomous, Obstacle Avoidance, Robot Servis, Velocity Obstacle, Service Robot
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Nawab Aditya
Date Deposited:	28 Jul 2023 06:37
Last Modified:	28 Jul 2023 06:37
URI:	http://repository.its.ac.id/id/eprint/99573

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