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PERANCANGAN SISTEM NAVIGASI DALAM RUANGAN TERTUTUP PADA AUTOMATED GUIDED VEHICLE (AGV) BERBASIS SENSOR LIDAR DAN ODOMETRY

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Automated Guided Vehicles (AGVs) can be used in the manufacturing industry. In performing their functions, AGVs require an autonomous navigation system consisting of three essential components: self-localization, map building, and path planning. However, previous research did not consider all three of these components. Therefore, in this study, a navigation system for AGV robots is designed using a map built by Gmapping SLAM, employing the AMCL algorithm for self-localization, and path planning determined by the A-Star Algorithm, with the use of LiDAR and odometry sensors. Testing is conducted both in simulation using the Gazebo software and in real scenarios using a prototype AGV, tested in a room representing a manufacturing plant. The navigation system developed in this research fulfills the basic competencies of robot navigation, namely self-localization, map building, and path planning. The AGV navigation system in this study is created with Gmapping SLAM as the map building algorithm, using Adaptive Monte Carlo Localization (AMCL) for self-localization, A-Star as the global planner, and Dynamic Window Approach (DWA) as the local planner. The developed AGV navigation system is capable of autonomous movement, determining destination points, and reaching the destinations within 10 seconds. There is potential to enhance the accuracy and performance of the navigation system by adjusting parameters and improving calibration on the used sensors and algorithms.

Availability
Inventory Code Barcode Call Number Location Status
2307002814T123134T1231342023Central Library (Referens)Available but not for loan - Not for Loan
Detail Information
Series Title
-
Call Number
T1231342023
Publisher
Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya.,
Collation
xiv, 45 hlm.; Ilus.; 29 cm
Language
Indonesia
ISBN/ISSN
-
Classification
621.390 7
Content Type
-
Media Type
-
Carrier Type
-
Edition
-
Subject(s)
Sistem Navigasi
Prodi Teknik Elektro
Specific Detail Info
-
Statement of Responsibility
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No other version available

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