Metode Potential Field sebagai Kendali Robot Roda Omni untuk Menuju Target dan Menghindari Rintangan

FAISAL WAHAB

Sari


ABSTRAK

Robot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu robot yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari robot itu sendiri. Dalam pengembangannya, OMR dapat ditambahkan kemampuan lain seperti menuju ke titik yang diinginkan dan menghindari rintangan. Pada makalah ini akan merancang dan mensimulasikan OMR dengan konfigurasi tiga buah roda omni menggunakan metode potential field yang dapat bergerak menuju titik yang diinginkan dan menghindari rintangan. Perancangan diawali dengan menentukan kinematika dari OMR, setelah itu diterapkan metode potential field dan terakhir pengujian secara simulasi dalam tampilan dua dimensi menggunakan perangkat lunak MATLAB dan analisis. Hasil simulasi pertama menunjukan OMR dapat bergerak ke segala arah tanpa mengubah orientasi robot berdasarkan kinematika yang telah dirancang. Hasil simulasi kedua OMR berhasil menuju titik yang diinginkan serta dapat menghindari dua buah rintangan.

Kata kunci: robot roda omni, kinematika, potential field, penghindar rintangan, simulasi

 

ABSTRACT

An Omni-directional wheel mobile robot (OMR) is a type of holonomic robot, which can move in any direction without changing the orientation of the robot. In the development of OMR, other capabilities can also be added, such as the ability to reach the desired position and avoid obstacles. In this paper, we will design and simulate OMR with three omni wheel configurations using the potential field method which can move to the desired point and avoid obstacles. The design begins with determining the kinematics of the OMR, then the potential field method is applied and the last is simulation in a two-dimensional view using MATLAB software and analysis. The results of the first simulation show that OMR can move in all directions without changing the orientation of the robot based on the kinematics that has been designed. The results of the second simulation of OMR successfully reach the desired point and can avoid two obstacles.

Keywords: omni directional wheel, kinematics, potential field, obstacle avoidance, simulation


Kata Kunci


robot roda omni; kinematika; potential field; penghindar rintangan; simulasi

Teks Lengkap:

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v10i1.177

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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

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