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

UBAIDILLAH, RADEN MUHAMMAD and Suprapto, Bhakti Yudho and Husin, Zaenal (2023) PERANCANGAN SISTEM KONTROL FORMASI SWARM ROBOT BERBASIS GPS MENGGUNAKAN ALGORITMA PARTICLE SWARM OPTIMIZATION (PSO). Undergraduate thesis, Sriwijaya University.

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Abstract

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.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	swarm robot, formation, GPS, optimal position, Particle Swarm Optimization (PSO)
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7816.P39 Electronics T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7836.M33 Microelectronics. Integrated circuits--Design and construction. Microelectromechanical systems--Design and construction T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Raden Muhammad Ubaidillah
Date Deposited:	27 Jul 2023 07:53
Last Modified:	27 Jul 2023 07:53
URI:	http://repository.unsri.ac.id/id/eprint/122595

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