Desain dan Implementasi Kontrol Koordinasi Multi Mobile Robot Mecanum Leader Follower Berbasis DWA

Mustofa, Fardlimas Agung Darojatun (2025) Desain dan Implementasi Kontrol Koordinasi Multi Mobile Robot Mecanum Leader Follower Berbasis DWA. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini membahas perancangan dan implementasi sistem koordinasi multi mobile robot mecanum menggunakan arsitektur leader–follower berbasis Dynamic Window Approach (DWA). Sistem dikembangkan pada platform robot Yahboom RDK X5 dengan menggunakan Robot Operating System 2 (ROS2), di mana robot leader melakukan navigasi menuju target berdasarkan global path, sedangkan robot follower menyesuaikan pergerakan berdasarkan informasi posisi dan Estimated Time of Arrival (ETA) dari robot leader untuk mencapai sinkronisasi waktu kedatangan. Pengujian dilakukan pada beberapa skenario navigasi dengan dan tanpa waypoint, serta dievaluasi berdasarkan error lintasan terhadap global path dan error posisi terhadap target. Hasil pengujian menunjukkan bahwa penggunaan mekanisme ETA dan penambahan waypoint mampu meningkatkan sinkronisasi waktu kedatangan dan akurasi navigasi robot follower, meskipun keterbatasan pembaruan data dan komputasi masih memengaruhi performa sistem secara keseluruhan.
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This research presents the design and implementation of a mecanum multi mobile robot coordination system using a leader–follower architecture based on the Dynamic Window Approach (DWA). The system is developed on the Yahboom RDK X5 robot platform using Robot Operating System 2 (ROS2), where the leader robot navigates toward the target following a global path, while follower robots adjust their motion based on position information and the Estimated Time of Arrival (ETA) of the leader to achieve synchronized arrival. Experiments are conducted under several navigation scenarios with and without waypoints, and system performance is evaluated in terms of path tracking error and goal position error. The results show that the incorporation of ETA-based coordination and waypoint addition improves arrival time synchronization and navigation accuracy of the follower robots, although localization update delays and computational limitations still affect overall system performance.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Multi Mobile Robot, Mecanum Wheel, Leader–Follower, Dynamic Window Approach, ROS2, Estimated Time of Arrival.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Fardlimas Mustofa
Date Deposited:	28 Jan 2026 01:31
Last Modified:	28 Jan 2026 01:31
URI:	http://repository.its.ac.id/id/eprint/130659

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