Design Mapping Simultaneous Localization And Mapping (SLAM) Mobile Robot Menggunakan Lidar Sebagai Navigasi Purwarupa UAV Tenaga Surya
DOI:
https://doi.org/10.52158/jasens.v4i2.785
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Keywords:
SLAM, LiDAR, IMU
Abstract
Permasalahan utama dari robot otonom untuk bernavigasi adalah bagaimana robot dapat mengenali lingkungan sekitar. Oleh karena itu, penelitian ini berfokus pada perancangan sistem mapping dan lokalisasi menggunakan metode Simultaneous Localization And Mapping (SLAM) yang diimplementasikan pada mobile robot menggunakan sensor LiDAR. Penelitian ini mengusulkan sistem mapping dan lokalisasi untuk mengenali lingkungan sekitar dengan membuat peta lingkungan yang dikombinasikan dengan sensor IMU. Pengujian dilakukan dengan menguji setiap sensor seperti IMU dan LiDAR, dan menguji sistem mapping dan lokalisasi. Hasil pengujian dari sistem mapping dan lokalisasi menunjukkan hasil yang optimal dan mampu mengenali kondisi lingkungan sekitar robot meskipun masih terdapat noise pada peta yang sudah dibuat.
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[23] Dewi T., Risma P., and Oktarina Y., 2018, Fuzzy Logic Simulation as a Teaching-learning Media for Artificial Intelligence Class, Journal of Automation Mobile Robotics and Intelligent Systems, 12(3), pp. 3-9.doi: 10.14313/JAMRIS_3- 2018/13
[24] Dewi T., Oktarina Y., Risma P., and Kartini S., 2019, Desain Robot Pengikut Manusia Sederhana dengan Fuzzy Logic Controller, Proc. Annual Research Seminar (ARS), 5(1), pp. 12- 16, 16 Nov 2019, Palembang: Indonesia.
[2] D. S. Paraforos, H. W. Griepentrog, Multivariable greenhouse climate control using dynamic decoupling controllers, IFAC Proceedings Volumes, Vol. 46, No 18, pp. 305-310, 2013, https://doi.org/10.3182/20130828-2-SF-3019.00064.
[3] C. A. Hernández-Morales, J.M. Luna-Rivera, and R. Perez- Jimenez, Design and deployment of a practical IoT-based monitoring system for protected cultivations, Computer Communications, Vol. 186, pp. 51-64, 2022.
https://doi.org/10.1016/j.comcom.2022.01.009.
[4] C. Chang, S. Chung, W. Fu, and C. Huang,Artificial intelligence approaches to predict growth, harvest day, and quality of lettuce (Lactuca sativa L.) in a IoT-enabled greenhouse system, Biosystems Engineering, Vol. 212, pp. 77- 105, 2021. https://doi.org/10.1016/j.biosystemseng.2021.09.015.
[5] E. A. Abioye, M. S. Z. Abidin, M. S. A. Mahmud, S. Buyamin,
M. K. I. AbdRahman, A. O. Otuoze, M. S. A. Ramli, and O. D. Ijike, IoT-based monitoring and data-driven modelling of drip irrigation system for mustard leaf cultivation experiment, Information Processing in Agriculture, Vol. 8, No 2, pp. 270- 283, 2021, https://doi.org/10.1016/j.inpa.2020.05.004
[6] E. Collado, E. Valdés, A. García, and Y. Sáez, Design and implementation of a low-cost IoT-based agroclimatic monitoring system for greenhouses, AIMS Electronics and Electrical Engineering, Vol. 5, No. 4, pp. 251-283, 2021. doi: 10.3934/electreng.2021014.
[7] F. Hahn, Fuzzy controller decreases tomato cracking in greenhouses, Computers and Electronics in Agriculture, Vol. 77, No 1, pp. 21-27, 2011. https://doi.org/10.1016/j.compag.2011.03.003.
[8] H. Benyezza, M. Bouhedda, and S. Rebouh, Zoning irrigation smart system based on fuzzy control technology and IoT for water and energy saving, Journal of Cleaner Production, Vol
[9] Dewi T., Nurmaini S., Risma P., Oktarina Y., and Roriz M., 2019, Inverse Kinematic Analysis of 4 DOF Pick and Place Arm Robot Manipulator using Fuzzy Logic Controller, IJECE, 10(2), pp. 1376-1386. doi:10.11591/ijece.v10i2.pp1376-1386.
[10] Uchiyama N., Dewi T., and Sano S., 2014, Collision Avoidance Control for a Human-Operated Four Wheeled Mobile Robot, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 228(13), pp. 2278- 2284. https://doi.org/10.1177/0954406213518523.
[11] Uchiyama N., Dewi T., Sano S., and Takahashi H., 2014, Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion, Journal of Robotics, 2014(278659), 11 pages. https://doi.org/10.1155/2014/278659.
[12] Dewi T., Amperawan, Risma P., Oktarina Y., and Yudha D. A., 2020, Finger Cue for Mobile Robot Motion Control, Computer Engineering and Application Journal, 9(1), pp. 39-48. doi: 10.18495/COMENGAPP.V9I1.319.
[13] Oktarina Y., Dewi T., and Risma T., 2020, The Concept of Automatic Transport System Utilizing Weight Sensor, Vol. 9,No. 2, pp. 155-163. doi:10.18495/COMENGAPP.V0I0.339
[14] Y. Oktarina, T. Dewi, P. Risma, and M. Nawawi, Tomato Harvesting Arm Robot Manipulator; a Pilot Project, Journal of Physics: Conference Series, 1500, p 012003, Proc. 3rd FIRST, Palembang: Indonesia, 2020, DOI: 10.1088/1742-6596/1500/1/ 012003
[15] T. Dewi, P. Risma, and Y. Oktarina, Fruit Sorting Robot based on Color and Size for an Agricultural Product Packaging System, Bulletin of Electrical Engineering, and Informatics (BEEI), vol. 9, no. 4, pp. 1438-1445, 2020, DOI: 10.11591/eei.v9i4.2353.
[16] T. Dewi, Z. Mulya, P. Risma, and Y. Oktarina, BLOB Analysis of an Automatic Vision Guided System for a Fruit Picking and Placing Robot, International Journal of
[17] Computational Vision and Robotics, Vol. 11, No 3, pp. 315- 326, 2021.https://doi.org/10.1504/IJCVR.2021.115161.
[18] T. Dewi, C. Anggraini, P. Risma, Y. Oktarina, and Muslikhin, Motion Control Analysis of Two Collaborative Arm Robots in Fruit Packaging System, SINERGI Vol. 25, No. 2, pp. 217-226, 2021. http://doi.org/10.22441/sinergi.2021.2.013.
[19] Dewi T., Risma P., Taqwa A., Rusdianasari, and Renaldi H., 2020, Experimental analysis on solar powered mobile robot as the prototype for environmentally friendly automated transportation, Proc. iCAST on Engineering Science, 24-25 Oct 2019, Bali: Indonesia, doi:10.1088/1742-6596/1450/1/012034.
[20] F. Septiarini, T. Dewi and Rusdianasari, Design of a solar- powered mobile manipulator using fuzzy logic controller of agriculture application, International Journal of Computational Vision and Robotics, Inderscience, Vol. 12, No. 5, pp. 506-531, 2022. https://doi.org/10.1504/IJCVR.2022.125356.
[21] Farooq U., Amar M., Asad M.U., Hanif A., and Saleh S.O., 2014. Design and Implementation of Neural Network of Based Controller for Mobile Robot Navigation in Unknown Environment. International Journal of Computer and Electrical Engineering, 6(2), pp. 83-89. doi:10.7763/IJCEE 2014.V6.799
[22] Dewi T., Wijanarko Y., Risma P., and Oktarina Y., 2018, Fuzzy Logic Controller Design for Leader-Follower Robot Navigation, 5th Proc. EECSI, 5(1), pp. 298-303. 16-18 Oct 2018, Malang : Indonesia. doi:10.1109/EECSI.2018.8752696.
[23] Dewi T., Risma P., and Oktarina Y., 2018, Fuzzy Logic Simulation as a Teaching-learning Media for Artificial Intelligence Class, Journal of Automation Mobile Robotics and Intelligent Systems, 12(3), pp. 3-9.doi: 10.14313/JAMRIS_3- 2018/13
[24] Dewi T., Oktarina Y., Risma P., and Kartini S., 2019, Desain Robot Pengikut Manusia Sederhana dengan Fuzzy Logic Controller, Proc. Annual Research Seminar (ARS), 5(1), pp. 12- 16, 16 Nov 2019, Palembang: Indonesia.
Published
2024-04-30
How to Cite
Tampubolon, D., Dewi, T., & Risma, P. (2024). Design Mapping Simultaneous Localization And Mapping (SLAM) Mobile Robot Menggunakan Lidar Sebagai Navigasi Purwarupa UAV Tenaga Surya. Journal of Applied Smart Electrical Network and Systems, 4(2), 41-46. https://doi.org/10.52158/jasens.v4i2.785
Section
Articles
Copyright (c) 2024 Debora Tampubolon, Tresna Dewi, Pola Risma
This work is licensed under a Creative Commons Attribution 4.0 International License.
