Sistem Multi Agen untuk Pelayanan Drone pada Groundbase Docking Station

DIMAS NOVIAN ADITIA SYAHPUTRA, RADEN SANGGAR DEWANTO, DADET PRAMADIHANTO

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ABSTRAK

Multi-Agent System (MAS) diajukan sebagai solusi untuk mengatasi permasalahan pada groundbase sebuah DDS, di mana pada groundbase terdapat AGV yang bertugas untuk membantu Drone beraktifitas di DDS hingga kemudian berangkat kembali menuju DDS lain. Metode auction serta contract antar agent digunakan dalam pemrosesan request dari Drone dan pembagian sumber daya. Pada MAS diterapkan algoritma prioritas sebagai solusi apabila terjadi konflik antar agen. Pengujian dengan simulasi pada CoppeliaSim dan ROS (Robot Operating System) menunjukkan bahwa penggunaan algoritma prioritas berdampak positif pada MAS yang dibuat. Pada DDS dengan skenario 11 AGV, terjadi peningkatan kemampuan DDS dalam menerima dan memproses request yang datang dari 57.9% menjadi 100%, serta pemecahan deadlock yang terjadi pada DDS dari 10 menjadi 0 sehingga seluruh request dapat terselesaikan.

Kata kunci: Multi-Agent System, Algoritma Prioritas, Drone Docking Station, AGV

 

ABSTRACT

The Multi-Agent System (MAS) was proposed as a solution to overcome problems in the groundbase of a DDS, where on the groundbase there is an AGV whose job is to help drones carry out activities in DDS and then depart for another DDS. Auction methods and contracts between agents are used in processing requests from drones and sharing resources. In MAS, a priority algorithm is applied as a solution in the event of a conflict between agents. Tests with simulations on CoppeliaSim and ROS (Robot Operating System) show that the use of priority algorithms has a positive impact on the created MAS. In DDS with 11 AGV scenario, there is an increase in DDS ability to receive and process incoming requests from 57.9% to 100%, as well as solving deadlocks that occur in DDS from 10 to 0 so that all requests can be resolved.

Keywords: Multi-Agent System, Priority Algorithm, Drone Docking Station, AGV


Kata Kunci


Multi-Agent System; Algoritma Prioritas; Drone Docking Station; AGV

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v10i4.859

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