Skripsi

PERANCANGAN SISTEM KONTROL FORMASI SWARM ROBOT BERBASIS GPS MENGGUNAKAN ALGORITMA PARTICLE SWARM OPTIMIZATION (PSO).

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Penilaian

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In the industrial sector, moving goods in warehouses requires a lot of operational cost. One effort to reduce operational cost is by using swarm robots. In completing tasks, the performance of swarm robots depends on formation control to coordinate swarm robots in forming and maintaining certain formations. In addition, formation control is also needed to avoid collisions between robots. Therefore, this research develops formation control system of swarm robot in an outdoor environment using the Particle Swarm Optimization (PSO) algorithm with GPS-based location input. The PSO algorithm will determine the optimal coordinate position of swarm robot and it will be implemented in the prototype so that the swarm robot will move based on these coordinates. Testing the performance of the formation control system is done by measuring the distance of the swarm to the AGV leader when moving on an obstacle-free and obstacle path. The result of the performance test shows the swarm can maintain the distance from the leader between 1-2 meters after applying PSO to the swarm robot. Furthermore, the distance between swarm 1 and swarm 2 to the AGV has a relatively small average difference, 39 cm on the obstacle-free path and 27.4 cm on the path with obstacle. These results indicate that applying PSO on swarm robots can maintain the desired distance and improve formation stability.

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Availability

Inventory Code	Barcode	Call Number	Location	Status
2307003247	T122595	T1225952023	Central Library (Referens)	Available

Detail Information

Series Title

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Call Number

T1225952023

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya ;., 2023

Collation

xiii, 55 hlm.; Ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

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Classification

621.316 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Elektro
Alat-alat Kontrol Listrik

Specific Detail Info

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Statement of Responsibility

MURZ

Other version/related

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