PENYELESAIAN PERMASALAHAN PATH PLANNING DAN PATH TRACKING PADA ROBOT HEXAPOD 3 DOF MENGGUNAKAN ALGORITMA RRT* DENGAN PATH OPTIMIZATION DAN POSE-TO-POSE

BURHANUDIN, ACHMAD (2023) PENYELESAIAN PERMASALAHAN PATH PLANNING DAN PATH TRACKING PADA ROBOT HEXAPOD 3 DOF MENGGUNAKAN ALGORITMA RRT* DENGAN PATH OPTIMIZATION DAN POSE-TO-POSE. S1 thesis, Universitas Mercu Buana Jakarta.

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Abstract

Autonomous systems in mobile robots involve the integration of hardware and software, which allows the robot to operate autonomously without human intervention. One of the main challenges in autonomous systems is the navigation system, which guides the movement of the robot from a position to a goal position in an optimal manner. Behaviour-based movement is a commonly used method for robot movement and navigation, but it has its drawbacks. Path Planning is here to overcome the shortcomings of behavior-based movement. To be able to follow the path of Path Planning results, Path Tracking is required. There are many algorithms for Path Planning, a popular one is the RRT* algorithm. However, the RRT* algorithm still has shortcomings, such as tending to produce paths that are still less than optimal and computation time that is still slow. Path Tracking, on the other hand, has several methods that can be applied, but some of them are difficult to apply and must be adapted to the robot used. This research aims to solve the global Path Planning and Path Tracking problems on a 3 DOF hexapod robot by proposing and applying the RRT* Path Optimization algorithm and the Pose-to-Pose approach. The results showed that the application of Path Planning, RRT* Path Optimization algorithm, and Path Tracking with the Pose-to-Pose approach was successful and there was an increase in the performance of the hexapod robot in terms of mobility and navigation, resulting in a more efficient and faster time to reach the destination point. Keywords: Path Planning, Path Tracking, Robot Hexapod, RRT*, Pose-to-Pose Sistem otonom pada robot mobile melibatkan integrasi perangkat keras dan perangkat lunak, yang memungkinkan robot beroperasi secara otonom tanpa campur tangan manusia. Salah satu tantangan utama dalam sistem otonom adalah sistem navigasi, yang memandu pergerakan robot dari suatu posisi ke posisi tujuan secara optimal. Behaviour-based Movement adalah metode yang umum digunakan untuk pergerakan dan navigasi robot, tetapi memiliki kekurangan. Path Planning hadir untuk mengatasi kekurangan Behaviour-based Movement. Untuk dapat mengikuti jalur hasil Path Planning maka dibutuhkan Path Tracking. Ada banyak algoritma untuk Path Planning, yang populer adalah algoritma RRT*. Namun algoritma RRT* juga masih memiliki kekurangan, seperti cenderung menghasilkan jalur yang masih kurang optimal dan waktu komputasi yang masih lambat. Path Tracking, di sisi lain, memiliki beberapa metode yang dapat diterapkan, tetapi beberapa di antaranya sulit untuk diterapkan dan harus disesuaikan dengan robot yang digunakan. Penelitian ini bertujuan untuk menyelesaikan permasalahan global Path Planning dan Path Tracking pada robot hexapod 3 DOF dengan mengusulkan dan menerapkan algoritma RRT* Path Optimization dan pendekatan Pose-to-Pose. Hasil penelitian menunjukkan bahwa penerapan Path Planning, algoritma RRT* Path Optimization, dan Path Tracking dengan pendekatan Pose-to-Pose berhasil dilakukan dan terlihat adanya peningkatan performansi robot hexapod dalam hal mobilitas dan navigasi, sehingga menghasilkan waktu yang lebih efisien dan lebih cepat untuk mencapai titik tujuan. Kata Kunci: Path Planning, Path Tracking, Robot Hexapod, RRT*, Pose-to-Pose.

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