Skripsi

PERANCANGAN SISTEM NAVIGASI MENGGUNAKAN KINECT V2 DAN LIDAR SERTA SISTEM KONTROL STEERING BERBASIS TYPE 2 FUZZY LOGIC PADA SERVICE ROBOT

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Penilaian

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Service robots are designed to assist humans in complex environments. To operate safely and efficiently, they require accurate and stable mapping, localization, navigation, and motion control systems, particularly in indoor environments with numerous small obstacles. However, studies that integrate all four processes into a single framework remain limited. This study proposes a navigation and steering control system based on the Positioning, Localization, and Navigation (PLAN) framework, integrated with RPLIDAR A3 and Kinect v2 sensors. Mapping is performed using g‑mapping Simultaneous Localization and Mapping (SLAM) and Real‑Time Appearance Based Mapping (RTAB‑Map), yielding evaluation results with a mean square error (MSE) of 0.26, an F1‑score of 0.1714, a recall of 0.0312, and a precision of 0.0498, indicating good map quality. The 3D map from RTAB‑Map is converted into a 2D format for navigation, while self‑localization accuracy is enhanced using an Extended Kalman Filter (EKF). Path planning employs bidirectional RRT* to determine optimal routes, and an Artificial Potential Field (APF) is applied for dynamic and static obstacle avoidance. Experimentalresults demonstrate that a type‑2 fuzzy logic controller with seven membership functions outperforms a PID controller, achieving a rise time of 0.2901 s, a settling time of 1.6819 s, a peak time of 1.6997 s, an overshoot of 0.4167%, and a steady‑state error of 10 (3.6). In contrast, the PID controller shows slower and less stable performance. These findings indicate that the proposed integrated system can provide faster, more stable, and more accurate navigation and steering control for service robots in complex indoor environments.

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Availability

Inventory Code	Barcode	Call Number	Location	Status
2507005487	T183124	T1831242025	Central Library (Referensi)	Available but not for loan - Not for Loan

Detail Information

Series Title

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Call Number

T1831242025

Publisher

Inderalaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2025

Collation

xvii, 117 hlm.; ilus.; tab.; 29 cm.

Language

Indonesia

ISBN/ISSN

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Classification

621.310 70

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

Teknik elektro

Specific Detail Info

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Statement of Responsibility

SEPTA

Other version/related

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