Optimasi Sistem Navigasi Robot Bencana dengan Algoritma Bug dan Jaringan Syaraf Tiruan

Penulis

Son Kuswadi, Ardelia Natasya GO, Muhamad Nasyir Tamara, Indra Adji Sulistijono

Abstrak

Agar robot bencana bisa melaksanakan tugas tertentu pada medan yang tak beraturan dan tidak diketahui keadaannya secara dinamis, harus memiliki kemampuan pemetaan. Berdasarkan peta yang telah dibuat, maka robot bisa bergerak sesuai dengan peta tersebut. Makalah ini membahas implementasi pemetaan dan navigasi robot, dengan menggunakan algoritma buguntuk membuat lintasan yang dapat menghindari halangan. Lintasan tersebut kemudian dioptimalkan dengan menggunakan jaringan syaraf tiruan untuk memilih lintasan terpendek. Metode yang diusulkan ini kemudian diuji baik menggunakan perangkat lunak dan eksperimen di medan laboratorium.

 

Abstract

 In order to perform certain task in a cluttered and unknown dynamic field, a disaster robot should have mapping capability. Based on the map, then robot will move accordingly. This paper describes the implementation of mapping and navigation of the robot by using bug algorithm to avoid the obstacle. The paths optimized by using artificial neural networks to select the shortest one. The proposed method then implemented both by simulation and experimental in lab scale field.

Kata Kunci


robot bencana; perencanaan lintasan; navigasi; algoritma bug; jaringan syaraf tiruan

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Referensi


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DOI: http://dx.doi.org/10.25126/jtiik.2018551153