IMPLEMENTASI METODE VECTOR - DISTANCE FUNCTION, SEBAGAI METODE PENGHINDARAN HALANGAN UNTUK AUTONOMOUS MOBILE ROBOT

Wibowo, Iwan Kurnianto and Ningrum, Endah Suryawati and Ardilla, Fernando (2010) IMPLEMENTASI METODE VECTOR - DISTANCE FUNCTION, SEBAGAI METODE PENGHINDARAN HALANGAN UNTUK AUTONOMOUS MOBILE ROBOT. EEPIS Final Project.

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Abstract

Vector distance function method used in the obstacle avoidance is a modification of the potential field method has been developed by J. Borenstein and Y. Koren. The basic idea of this concept is that there is a virtual robot based on the resultant force from the virtual repulsive force against a virtual obstacle and attractive force towards the target. The method has the potential field of global navigation system uses a central camera then the modifications made to the final project is a robot using the local navigation system. Distance of obstacle to the robot be discovered using ultrasonic sensors. Target acquisition in Cartesian coordinates is applied with odometry techniques. Data of rotary encoder on the right and left wheels treated with odometry formula so that the robot can know the position and distance to the target currently. Implementation of this method is very accurate and provide many advantages. Robot capable of avoiding room trap obstacles that are keeping close to the target and reach it with error under 13%. This final application in the future be applied to robotic soccer games. Keywords: obstacle, vector, ultrasonic, avoidance

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