Implementasi Kontrol Koordinasi Konsensus Tiga Mombile Robot Mecanum Berbasis Dynamic Window Approach pada Kondisi Agen Tidak Andal

Risanta, Faiza Haqqi (2026) Implementasi Kontrol Koordinasi Konsensus Tiga Mombile Robot Mecanum Berbasis Dynamic Window Approach pada Kondisi Agen Tidak Andal. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5022221135-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (8MB) | Request a copy

Abstract

Sistem multi-robot di dalam ruangan menghadapi perbedaan panjang lintasan, konflik spasial, dan gangguan aktuasi yang dapat membuat progres tiap robot tidak seimbang. Penelitian ini bertujuan mengimplementasikan dan mengevaluasi koordinasi tiga robot mecanum fisik agar kedatangan relatif merapat, konflik spasial terkelola, dan koordinasi tetap berlangsung ketika satu agen tidak andal. Sistem diimplementasikan pada tiga robot Yahboom RDK X5 berbasis ROS 2 dengan perencanaan jalur global Dijkstra, navigasi lokal Dynamic Window Approach, lokalisasi AMCL dan fusi odometri–IMU, komunikasi UDP, konsensus progres lintasan, manajemen prioritas, serta deteksi heartbeat dan motion-stall. Konsensus menyesuaikan batas kecepatan terhadap acuan kelompok aktif, sedangkan agen yang gagal dikeluarkan sementara dari perhitungan koordinasi. Tujuh pengujian dilakukan pada skenario convoy, split, merge, crossing, dan convoy-offset. Seluruh robot mencapai tujuan dengan galat posisi akhir di bawah 0,11 m. Pada skenario split dengan fail-stop Robot 3 yang sama, konsensus memperkecil sebaran waktu tiba relatif dari 21,83 s pada baseline menjadi 5,59 s. Pada skenario lain, sebaran waktu tiba bekisar 0,66–3,28 s, sedangkan convoy-offset sengaja menghasilkan kedatangan bertahap sebesar 16,31 s. Jarak minimum antarrobot tetap aman pada crossing sebesar 0,359 m dan merge sebesar 0,403 m, tetapi pada convoy dengan gangguan aktuasi sempat turun menjadi 0,204 m. Hasil menunjukkan bahwa integrasi konsensus progres, manajemen prioritas, dan deteksi kegagalan layak diterapkan pada robot fisik untuk koordinasi adaptif, namun pemisahan lajur dan margin keselamatan pada formasi rapat perlu diperketat.
====================================================================================================================================
Multi-robot systems in indoor environments face unequal path lengths, spatial conflicts, and actuator disturbances that can cause robots to progress unevenly. This study aims to implement and evaluate the coordination of three physical mecanum robots so that relative arrivals are tightened, spatial conflicts are managed, and coordination continues when one agent becomes unreliable. The system is implemented on three Yahboom RDK X5 robots using ROS 2, Dijkstra global path planning, Dynamic Window Approach local navigation, AMCL and odometry–IMU fusion, UDP communication, trajectory-progress consensus, priority management, and heartbeat and motion-stall detection. The consensus mechanism adjusts each speed limit against an active-group reference, while a failed agent is temporarily excluded from coordination. Seven experiments are conducted in convoy, split, merge, crossing, and convoy-offset scenarios. All robots reach their goals with final position errors below 0.11 m. In the split scenario under the same fail-stop condition on Robot 3, consensus reduces the relative arrival-time spread from 21.83 s in the baseline to 5.59 s. In the other scenarios, the arrival-time spread ranges from 0.66 to 3.28 s, while convoy-offset deliberately produces staggered arrivals of 16.31 s. The minimum inter-robot distance remains safe in crossing at 0.359 m and merge at 0.403 m, but briefly decreases to 0.204 m in faulted convoy. The results show that integrating progress consensus, priority management, and failure detection is feasible for adaptive coordination on physical robots, although lane separation and safety margins in dense formations need to be strengthened.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	sistem multi-robot, robot mecanum, DWA, konsensus progres lintasan, manajemen, multi-robot systems, mecanum robots, DWA, trajectory-progress consensus, priority management, fault injection, ROS 2 prioritas, injeksi gangguan, ROS 2
Subjects:	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:	Faiza Haqqi Risanta
Date Deposited:	27 Jul 2026 02:31
Last Modified:	27 Jul 2026 02:31
URI:	http://repository.its.ac.id/id/eprint/137670

Actions (login required)

View Item