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Publications (34)
Although Rapidly Exploring Random Tree Star (RRT*) has been considered to be able to achieve convergence to an optimal solution, this method has a slow convergence speed and requires an infinite amount of time to produce a truly optimal solution. For this reason, RRT*-Smart which includes path optimization and intelligent sampling processes was int...
This research aims to create a simulator for solving the global path planning of mobile robots. Various sampling-based methods such as Rapidly-exploring Random Tree (RRT), RRT*, and Fast-RRT, along with other derivative algorithms, have been widely used to solve path-planning problems in mobile robots. The level of computational efficiency, path op...
Fast-RRT improves on the original rapidly-exploring random trees (RRT) by incorporating two main stages: improved-RRT and fast-optimal. The improved-RRT stage enhances the search process through fast-sampling and random steering, while the fast-optimal stage optimizes the path using fusion and path arrangement. However, path fusion can only be opti...
Conceptually, Fast-RRT applies fast sampling and random steering which makes the initial path quickly obtained. Referring to the initial path, the optimality of the path is improved by applying path fusion and path optimization. Theoretically, path fusion will only be optimal if there is always a unique/different path to be fused with the previousl...
Objektivitas dari menyelesaikan permasalahan Simultaneous Localization and Mapping pada robot bergerak adalah menaksirkan lintasan robot dan secara simultan memodelkan peta lingkungan. Pada kasus SLAM 2-dimensi berbasis fitur, peta yang dimaksud adalah menaksirkan lokasi semua fitur pada lingkungan dalam bentuk koordinat kartesius. Umumnya penaksir...
Designing the motion of a hexapod robot with 3 Degrees of Freedom (DOF) using the Inverse Kinematics method allows the robot to move by adjusting the angles of its leg joints according to the desired position and direction. This research involves the geometric and structural design of the hexapod robot and the development of an Inverse Kinematics a...
The Golden Indonesia 2045 vision, particularly in achieving economic growth and improving citizens' welfare, relies heavily on sustainable regional development and enhanced local potential. Kampung Ekowisata Keranggan in South Tangerang is one example of an area with significant potential, supported by active community engagement. Its natural beaut...
In Gang Hijau Swakarya, Meruya Selatan, there are still lots of open spaces with plenty of sunlight and plots of land surrounding residential buildings that have not been used for greening. Nevertheless, the community has not yet been able to convert sunlight into electricity using it as a renewable energy source. When used, this can save operating...
Perkembangan teknologi pada bidang industri, khususnya untuk para tenaga kerja asing, perlu beradaptasi dengan peralatan dan sistem yang semakin canggih dan kompleks. Hal ini menuntut pemahaman dan keterampilan khusus untuk mengoperasikannya dengan aman. Namun, seringkali, muncul tantangan saat menyesuaikan diri dengan perubahan tersebut. Keterbata...
Key aspects are covered in this review article, along with a brief explanation of mobile robot navigation and its uses in the industrial sector. This study emphasizes the significance of robot navigation in enhancing productivity, efficiency, and safety in manufacturing processes by compiling important ideas from the body of research and literature...
Path planning is one of the most fundamental problems that must be solved before a robot can navigate and explore autonomously. Path planning needs to be integrated with path tracking to be applied to autonomous robots. This makes path tracking also important for autonomous robot navigation which cannot be separated from path planning. There are tw...
The objective of solving feature-based localization problems is to estimate the path of the robot referring to a given map. Thus, it is not surprising that robust estimators such as Smooth Variable Structure Filter (SVSF) are often used to handle this problem. Basically, its use is highly dependent on an accurate system model and known statistical...
The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly depende...
Herein, a real-time, fast, tightly coupled simultaneous localization and mapping (SLAM) system is proposed. The deep neural network is used to segment the point cloud semantically to construct the point cloud semantic map descriptor, and the global navigation satellite system real-time kinematic position is used to detect the loop closure. Finally,...
The use of sampling-based algorithms such as Rapidly-Exploring Random Tree Star (RRT*) has been widely applied in robot path planning. Although this variant of RRT offers asymptotic optimality, its use is increasingly limited because it suffers from convergence rates, mainly when applied to an environment with a poor level of obstacle neatness and...
A wall-following robot needs a controller that applies the closed-loop concept to move actively without hindrance. Some controllers with good capabilities can act as controllers for wall follower robots, such as PID controllers. Conceptually, this controller's good performance depends on tuning the three gains before use. Instead of giving the expe...
In the conventional Proportional Integral Derivation (PID) controller, the parameters are often adjusted according to the formulas and actual application. However, this empirical method will bring two disadvantages. First, testing the program takes much time and usually needs help to reach the optimal solution. Second, the PID parameters will not a...
The running information display board or Running Text is one of the information media or digital publications comprised of an ordered pattern of Light Emitting Diode (LED) lights, and each LED has a coordinate point that determines which LED position is on or off. This LED light is available in a range of colors, including red, yellow, green, blue,...
Wall-following control of mobile robot is an important topic in the mobile robot researches. The wall-following control problem is characterized by moving the robot along the wall in a desired direction while maintaining a constants distance to the wall. The existing control algorithms become complicated in implementation and not efficient enough....
The unknown noise statistic might degrade the Filter performance or even lead to filter divergence. Accordingly, to enhance the classical EKF to approximate the recursive process and measurement noise statistic, based on Maximum A Posteriori creation and Weighted Exponent (WE) as the divergence suppression method, abbreviated as MAPWE, an adaptive...
The smooth variable structure filter (ASVSF) has been relatively considered as a new robust predictor-corrector method for estimating the state. In order to effectively utilize it, an SVSF requires the accurate system model, and exact prior knowledge includes both the process and measurement noise statistic. Unfortunately, the system model is alway...
The smooth variable structure filter (SVSF) has been considered as the robust estimator. Like other filters, the SVSF needs an accurate system model and known noise statistics to approximate the posterior state. Unfortunately, the system cannot be accurately modeled, and the noise statistic is unknown in the real application. For these reasons, the...
Wall-following control of mobile robot is an important topic in the mobile robot researches. The wall-following control problem is characterized by moving the robot along the wall in a desired direction while maintaining a constants distance to the wall. The existing control algorithms become complicated in implementation and not efficient enough....
The ineffectiveness of the wall-following robot (WFR) performance indicated by its surging movement has been a concerning issue. The use of a Fuzzy Logic Controller (FLC) has been considered to be an option to mitigate this problem. However, the determination of the membership function of the input value precisely adds to this problem. For this rea...
Determination of the improper speed of the wall-following robot will produce a wavy motion. This common problem can be solved by adding a Fuzzy Logic Controller (FLC) to the system. The usage of FLC is very influential on the performance of the wall-following robot. Accuracy in the determination of speed is largely based on the setting of the membe...
Extended Kalman Filter (EKF) has been popularly utilized for solving Simultaneous Localization and Mapping (SLAM) problem. Essentially, it requires the accurate system model and known noise statistic. Nevertheless, this condition can be satisfied in simulation case. Hence, EKF has to be enhanced when it is applied in the real-application. Mainly, t...
The most popular filtering method used for solving a Simultaneous Localization and Mapping is the Extended Kalman Filter. Essentially, it requires prior stochastic knowledge both the process and measurement noise statistic. In order to avoid this requirement, these noise statistics have been defined at the beginning and kept to be fixed for the who...
The probability-based filtering method has been extensively used for solving the simultaneous localization and mapping (SLAM) problem. Generally, the standard filter utilizes the system model and prior stochastic information to approximate the posterior state. However, in the real-time situation, the noise statistics properties are relatively unkno...
A wall-following robot is one of the main issues in autonomous mobile robot behavior. However, a wall-following robot needs a robust controller to perform specific tasks accurately. This paper presents an optimization method termed Particle Swarm Optimization (PSO). It was used to automatically produce necessary parameters of the PID controller; he...
