IMPLEMENTASI METODE VIRTUAL FORCE FIELD UNTUK KONTROL PERGERAKAN AUTONOMOUS MOBILE ROBOT PADA APLIKASI SOCCER ROBOT

Prasetyo, Bayu and Ningrum, Endah Suryawati and Alasiry, Ali Husein (2010) IMPLEMENTASI METODE VIRTUAL FORCE FIELD UNTUK KONTROL PERGERAKAN AUTONOMOUS MOBILE ROBOT PADA APLIKASI SOCCER ROBOT. EEPIS Final Project.

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Abstract

Virtual Force Field method is the one method which have simply concept but have a good ability to solve problem about obstacle avoidance. From the research that have done by Borenstein, Virtual Force Field is developed from the research that have done before that is Potential Field Method which work based on Histogram Grid. But it use Weight Value that different in any place which have obstacle. From the poorness that method, finally it can handled by Virtual Force Field method. In the Virtual Force Field method, an obstacle will represented as Repulsive Force and the target will represented as Attractive Force toward robot. Then the result from two force will be command in steering robot. To detect an obstacle that surrounds robot we use An Ultrasonic Sensor SRF 04 which work optimally up to 100 cm. For detect the object in front of robot we use Object Tracking method which use CMU Cam2 camera. In practically, we get an error resultant about 0.059% for the vector angle and 0.073% for the value of vector. Keyword : Virtual Force Field method, Obstacle Avoidance, Ultrasonic SRF 04, Object Tracking, CMU Cam2 camera

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