IMPLEMENTASI SISTEM GERAK PADA AUTONOMOUS SWARM MOBILE ROBOT DENGAN METODE ODOMETRY DAN ALGORITMA PERILAKU SEMUT UNTUK MENEMUKAN TARGET
Cooperative transport is one of swarm robot algorithm implementation, inspired from living insect behavior in nature.cooperative multirobot can solve mission better than single robot. Odometry conventional method on the differential drive mobile robot (DDMR) only have incremental rotary encoder as i...
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| Format: | Thesis |
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[Yogyakarta] : Universitas Gadjah Mada
2014
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| Summary: | Cooperative transport is one of swarm robot algorithm implementation, inspired from living insect behavior in nature.cooperative multirobot can solve mission better than single robot. Odometry conventional method on the differential drive mobile robot (DDMR) only have incremental rotary encoder as input sensor. if implemented in cooperative transport algorithm, This method not efficient for search shorthest way to the target (distance,degree).this is because cordinat calculation of robot using mobile robot kinematic formulas and trajectory of robot is a circle arc with the center pint of rotation (ICR).
Shortcut calculation to the target from nest can be simplified by using an imaginary triagle modeling with one coordinates reference robot. This calculation can be done with the input parameters of the distance and angle from odometry and control the direction of movement of the robot using a compass.
The result of the study are three prototypes DDMR to find target with a search pattern based on the reference angle of the reference robot motion patterns by modeling an imaginary triangle. Rni robot need data information from reference robot to find target and finish his mission. The average time for robot to get on together in first target 17 second and time to finish mission 26 second. Mission success rate 86%. Test is performed with a fixed reference variable. Variable distance to target 30 cm and variable direction 180 º. |
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