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

MIRANDA, SILFANI SANDRA and Dwijayanti, Suci (2025) PERANCANGAN SISTEM NAVIGASI MENGGUNAKAN KINECT V2 DAN LIDAR SERTA SISTEM KONTROL STEERING BERBASIS TYPE 2 FUZZY LOGIC PADA SERVICE ROBOT. Undergraduate thesis, Sriwijaya University.

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Abstract

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.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Service Robot, Steering, G-Mapping SLAM, RTAB-Map, EKF, Bidirectional RRT*, APF, Fuzzy Logic Type-2, PID
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.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Silfani Sandra Miranda
Date Deposited:	22 Aug 2025 03:07
Last Modified:	22 Aug 2025 03:07
URI:	http://repository.unsri.ac.id/id/eprint/183124

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