Utomo, Eko Yudi (2015) Autonomous mobile robot berbasis landmark menggunakan particle filter dan occupancy grid maps untuk navigasi, penentuan posisi dan pemetaan. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Implementasi SLAM umumnya menggunakan robot dengan sensor yang
lengkap. Di penelitian ini menggunakan HBE Robocar dengan sensor terbatas
untuk mengetahui keberhasilan unsur pembangun SLAM (navigation, localization
dan mapping) dan solusi ideal SLAM.
Ketiga unsur SLAM direalisasikan dalam simulasi dan real robot dengan
sistem persepsi sensor yang berbeda. Untuk penentuan posisi diberikan peta yang
diketahui dan pergerakan robot menggunakan landmark berupa bola. Robot
melakukan tracking color terhadap bola untuk mendapatkan pose relative dan
diproses menggunakan algoritma particle filter dengan variasi jumlah partikel.
Untuk navigasi, robot menghitung jalur terdekat dari start ke goal menggunakan
algoritma dynamic A*.
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SLAM implementation commonly using robot with multi sensor. In this
research, HBE Robocar was used for understanding its SLAM Developing
component (navigation, localization, and mapping) with sensor limitation and its
ideal solution.
All of the SLAM components were conducted in simulation and real
condition of robot with different sensor perception. Localization was conducted
with known map and robot movement based on landmark using the balls. Robot
does color tracking on the balls to get relative pose and processed using particle
filter algorithm with various of particle quantity. Navigation was conducted by
calculating shortest distance from start to goal using Dynamic A*
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.892 Uto a |
| Uncontrolled Keywords: | Navigation, Localization, Mapping, Particle Filter, Occupancy Grid Map, Dynamic A*, Tracking Color, Landmark, Ultrasonik, Kamera, Kompas |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ799 Diesel motor--Electronic control. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 12 Jun 2017 02:05 |
| Last Modified: | 23 Oct 2018 02:36 |
| URI: | http://repository.its.ac.id/id/eprint/41577 |
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