PEMETAAN DAN LOKALISASI SECARA SIMULTAN ROBOT iSRo MENGGUNAKAN MULTI-SENSOR

Rosyadi, Achmad Luthfi and Kuswadi, Son and Adji, Indra (2011) PEMETAAN DAN LOKALISASI SECARA SIMULTAN ROBOT iSRo MENGGUNAKAN MULTI-SENSOR. EEPIS FINAL PROJECT.

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Abstract

SLAM (Simultaneous Localization And Mapping) is a technique used by a mobile robot to build maps of the area being explored, where the area previously unknown forms of terrain. In SLAM, the robot will perform two tasks at once, which form the map and also able to determine the position of the robot in the map. In this final project, created a program visualization to describe the movement of a robot, either direction toward the robot, the distance the robot, the form of obstacles that have been detected by the robot. Package data transmitted by the robot contains data about the distance from obstacles ultrasonic sensors, direction toward robots that come from digital compass output CMPS03, and the distance the robot using data from the rotary encoder. Data packet will be sent to the software that was created by using serial communication continuously. Moreover, in this program, we also can know the position of the robot which is updated continuously. From the results of testing this final project, obtained data that the image distance between the process of updating the position-x with the-x-1 is still too far away or there is a gap so that the resulting picture is less subtle. In addition, the slip that occurred on the wheels also provide a level of reading error, because the slip will not be readable by the rotary sensor. Range compass sensor readings are still not detailed. Range of measurement will be changed every 100 course not every 10 thus affecting the level of subtlety of images produced when the mapping process. Keywords: SLAM, robot, ultrasonic sensors, digital compass, rotary encoder

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