Pengaturan Formasi Menggunakan Pendekatan Leader - Follower pada Sistem Multi Robot

Haris Tri Rahmanto, Achmad Jazidie
Submission Date: 2017-01-24 13:45:21
Accepted Date: 2017-03-17 10:12:41

Abstract


Sistem multi robot dapat didefinisikan sebagai kumpulan robot yang berkoordinasi melalui sistem komunikasi untuk melakukan tugas kooperatif tertentu. Penggunaan multi robot secara terkoordinasi memungkinkan pencapaian tugas yang lebih kompleks. Efisiensi penyelesaian tugas pada sistem multi robot dapat ditingkatkan dengan menggunakan formasi. Pengaturan formasi pada sistem multi robot dapat diselesaikan dengan menggunakan pendekatan leader-follower. Leader sebagai pusat koordinasi sedangkan follower mengikuti leader dengan jarak dan orientasi relatif yang telah ditentukan. Penerapan formasi pada lingkungan tidak terstruktur terdapat rintangan yang memungkinkan formasi tidak terbentuk sesuai dengan yang diinginkan. Pendekatan leader-follower memiliki kelemahan jika leader menghadapi rintangan maka keseluruhan robot dapat terganggu. Berdasarkan kelemahan tersebut, leader harus dapat menghindari rintangan. Penelitian ini menggunakan kontroler tracking dan kontroler menghindari rintangan dengan algoritma fuzzy. Penerapan kontroler tracking pada sistem multi robot bertujuan membentuk formasi. Sistem dengan kontroler yang diusulkan tersebut mampu membentuk formasi sesuai spesifikasi yang diberikan sekaligus menghindari rintangan.

Keywords


Pengaturan formasi; Leader-follower; Mobile robot; Logika fuzzy

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