Perencanaan Jalur Autonomous Guided Vehicle (AGV) menggunakan Rapidly Exploring Random Trees (RRT) dan Dynamic Window Approach (DWA) pada ROS.

ANNISA IZATY; Dini Hariani Fitri Lubis

doi:10.23960/jitet.v14i2.9295

ANNISA IZATY
POLITEKNIK NEGERI BANDUNG
Dini Hariani Fitri Lubis

DOI: https://doi.org/10.23960/jitet.v14i2.9295

Keywords Path Planning, Obstacle Avoidance, Rapidly Random Trees (RRT), Dynamic Window Approach (DWA), Robot Operating System (ROS)

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Abstract

Abstrak. Kendaraan material atau robot pemindah barang (AGV) digunakan di lingkungan industri seperti pabrik atau gudang dan memiliki kemampuan navigasi. Sistem navigasi terdiri dari penghindaran rintangan dan perencanaan jalur. Metode perencanaan jalur berbasis sampling telah berkembang dari perencanaan robotik dasar ke aplikasi yang lebih kompleks dan beragam untuk mendapatkan solusi yang efektif. Penelitian ini mengusulkan algoritma terintegrasi baru untuk membuat jalur navigasi dalam lingkungan dinamis. Solusi untuk masalah ini biasanya terbatas pada perencanaan jalur tetapi tidak mencakup perintah kecepatan atau perubahan lingkungan di sekitar AGV. Untuk perencanaan jalur global, algoritma Rapidly-Exploring Random Trees (RRT) mengambil sampel acak dari ruang konfigurasi untuk menghasilkan jalur bebas tabrakan. Algoritma Dynamic Window Approach (DWA) digunakan untuk mengambil sampel ruang kecepatan forklift untuk perencanaan jalur lokal. Ini dilakukan dengan menghitung kecepatan translasi dan rotasi AGV, dan simulasi menunjukkan bahwa algoritma ini dapat membuat jalur AGV yang efisien dalam lingkungan dinamis.

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