PERANCANGAN SISTEM NAVIGASI DALAM RUANGAN TERTUTUP PADA AUTOMATED GUIDED VEHICLE (AGV) BERBASIS SENSOR LIDAR DAN ODOMETRY

ROSIDI, ROSIDI and Dwijayanti, Suci (2023) PERANCANGAN SISTEM NAVIGASI DALAM RUANGAN TERTUTUP PADA AUTOMATED GUIDED VEHICLE (AGV) BERBASIS SENSOR LIDAR DAN ODOMETRY. Undergraduate thesis, Sriwijaya University.

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Abstract

Automated Guided Vehicles (AGVs) can be used in the manufacturing industry. In performing their functions, AGVs require an autonomous navigation system consisting of three essential components: self-localization, map building, and path planning. However, previous research did not consider all three of these components. Therefore, in this study, a navigation system for AGV robots is designed using a map built by Gmapping SLAM, employing the AMCL algorithm for self-localization, and path planning determined by the A-Star Algorithm, with the use of LiDAR and odometry sensors. Testing is conducted both in simulation using the Gazebo software and in real scenarios using a prototype AGV, tested in a room representing a manufacturing plant. The navigation system developed in this research fulfills the basic competencies of robot navigation, namely self-localization, map building, and path planning. The AGV navigation system in this study is created with Gmapping SLAM as the map building algorithm, using Adaptive Monte Carlo Localization (AMCL) for self-localization, A-Star as the global planner, and Dynamic Window Approach (DWA) as the local planner. The developed AGV navigation system is capable of autonomous movement, determining destination points, and reaching the destinations within 10 seconds. There is potential to enhance the accuracy and performance of the navigation system by adjusting parameters and improving calibration on the used sensors and algorithms.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Navigasi, Pemetaan
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:	Rosidi Rosidi
Date Deposited:	28 Jul 2023 02:56
Last Modified:	28 Jul 2023 02:56
URI:	http://repository.unsri.ac.id/id/eprint/123134

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