Hamami, Irfan (2022) IMPLEMENTASI ARTIFICIAL POTENTIAL FIELD UNTUK SISTEM KENDALI OTOMATIS PADA ROBOT TURTLEBOT. Other thesis, UPN 'Veteran" Yogyakarta.
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Abstract
ABSTRAK
Sistem kendali robot menjadi komponen penting dalam pergerakan robot. Robot
dapat dikendalikan manual dengan remote ataupun dapat bergerak secara otomatis dengan
mengikuti garis atau melacak posisi lampu yang telah ditentukan, sehingga robot bergerak
terbatas garis ataupun posisi lampu. Begitupun dengan robot beroda milik Tim Robotika UPN
“Veteran” Yogyakarta yang belum memiliki sistem kendali secara otomatis agar robot dapat
bergerak leluasa di dalam ruangan. Solusi agar robot dapat bergerak leluasa di dalam ruangan
adalah dengan mengimplementasikan metode perencanaan jalur (path planning) yang
mempertimbangkan objek hambatan yaitu Artificial Potential Field (APF) ke pada
kinematika kontrol robot beroda.
Prinsip kerja APF adalah membangun bidang potensial yang bergerak dari posisi awal
robot yang memiliki potensial tinggi ke posisi tujuan yang memiliki potensial rendah, gerak
tersebut akan menghasilkan gaya tarik, sedangkan gaya tolak akan dihasilkan oleh rintangan,
sehingga robot dapat menghindari rintangan dan mencapai titik tujuan dikarenakan kekuatan
total gaya tarik dan gaya tolak mengontrol pergerakan robot. Metode APF akan mengirim
posisi jalur ke kinematika robot sebagai titik acuan agar robot bergerak sesuai jalur yang telah
dibangun APF. Kemudian kinematika dapat mengatur kecepatan linear dan kecepatan sudut
roda untuk menuju titik tujuan dan menjauh dari objek hambatan berdasarkan nilai acuan dari
APF.
Hasil implementasi perencanaan jalur dengan APF menjadikan robot dapat bergerak
secara akurat menuju titik tujuan, dan menghindari objek hambatan yang telah ditentukan
koordinat posisinya sehingga terhindar dari tabrakan. Robot dapat mencapai titik tujuan
dengan mengikuti lintasan dan menjauhi hambatan sesuai dengan data yang dibuat oleh APF ,
yang dimana galat rata-rata pergerakan posisi aktual robot dan posisi yang dihasilkan APF
sejauh 0.0405 meter atau sejauh 4 centimeter. Sedangkan galat rata-rata robot menuju titik
tujuan sebesar 0.0014 meter atau galatnya sekitar 0,1 centimeter. Hal tersebut terjadi karena
robot dalam bergerak menggunakan wheel odometry yang mana roda rentan terhadap selip.
Kata Kunci : Robot Operating System, Robot Beroda, Non-holonomic, Perencanaan Jalur,
Artificial Potential Field
ABSTRACT
The robot control system is an important component in the movement of the robot.
The robot can be controlled manually by remote or can move automatically by following a
line or tracking a predetermined light position so that the robot moves in a limited line or
light position. Likewise, the wheeled robot belonging to the Robotics Team of UPN "Veteran"
Yogyakarta does not yet have an automatic control system so that the robot can move freely
in the room. The solution so that the robot can move freely in the room is to implement a path
planning method that considers the obstacle object, namely the Artificial Potential Field
(APF) to the control kinematics of the wheeled robot.
The working principle of APF is to build a potential field that moves from the initial
position of the robot which has high potential to the destination position which has a low
potential, the motion will produce a pulling force, while the repulsive force will be generated
by obstacles so that the robot can avoid obstacles and reach the destination point due to
obstacles. The total force of attraction and repulsion controls the movement of the robot. The
APF method will send the path position to the kinematics robot as a reference point so that
the robot moves according to the path that has been built by APF. Then the kinematics can
adjust the linear speed and angular speed of the wheel to get to the destination point and away
from the obstacle object based on the reference value of the APF.
The results of the implementation of path planning with APF make the robot can
move accurately to the destination point, and avoid obstacle objects whose position
coordinates have been determined to avoid collisions. The robot can reach the destination
point by following the trajectory and away from obstacles according to the data created by
APF, which is the average error of moving the robot's actual position and the position
generated by APF as far as 0.0405 meters or as far as 4 centimeters. While the robot's average
error towards the destination point is 0.0014 meters or the error is about 0.1 centimeters. This
happens because the robot moves using wheel odometry, where the wheels are prone to
slipping.
Keywords : Robot Operating System, Mobile Robot, Non-holonomic, Path Planning,
Artificial Potential Field
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Robot Operating System, Robot Beroda, Non-holonomic, Perencanaan Jalur, Artificial Potential Field |
| Subjects: | Z Bibliography. Library Science. Information Resources > ZA Information resources |
| Divisions: | Faculty of Engineering, Science and Mathematics > School of Engineering Sciences |
| Depositing User: | Eko Yuli |
| Date Deposited: | 25 Mar 2022 07:25 |
| Last Modified: | 12 Jan 2023 03:47 |
| URI: | http://eprints.upnyk.ac.id/id/eprint/29152 |
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