Analisis Perbandingan Algoritma Perencanaan Jalur Robot Bergerak Pada Lingkungan Dinamis

https://doi.org/10.22146/ijccs.15743

Tonny Suhendra(1*), Tri Kuntoro Priyambodo(2)

(1) universitas maritim raja ali haji, kepri
(2) Universitas Gdjah Mada Yogyakarta
(*) Corresponding Author

Abstract


Development of technology and complexity of an environment (dynamic environtment), the use of algorithms in path planning becomes an important thing to do, problem to be solved by the path planning is safe patch (collision-free), second is the distance traveled, ie, the path length is generated from the robot start position to the current target position and the thirdtravel time, ie, the timerequired by the robot to reached its destination.this research uses ACO algorithm and A-star Algorithm to determine the influence of obstacles (simple environment) and also differences in the pattern of the target motion (linier and sinusoidal)on the ability of the algorithm in pathplanning for finding the shortest path. The test results show that for a simple environtment where the state of target and obstacles still static,the resukt that A-star algorithm is betterthan ACO algorithm both in terms of travel time and travel distance. Testing with no obstacles, seen from the distance travelled differences obtained of 0,57%, whereas for testing with obstacles difference of 9%. Testing in a complex environtment where the targets and obstacles which movesdinamically with a certain pattern, from the three environmental conditions that has been tested, ACO algorithm is better than A-star algorithm where the ACO algorithm can find a path with optimal distance or the sortest distance.


Keywords


path planning, mobile robot, ACO algorithm, A-star Algorithm

Full Text:

PDF


References

Minguez, Javier, and Montano, L., “Sensor-Based Robot Motion Generation in Unknown, Dynamic and Troublesome Scenarios.” Robotics and Autonomous Systems 52.4 (2005): 290–311. Web. 13 Feb. 2015.

Filliat, David, and Meyer, J. A., “Map-Based Navigation in Mobile Robots:”Cognitive Systems Research 4.4 (2003): 243–282. Web. 11 Apr. 2015.

Meyer, J. A, and Filliat, D., “Map-Based Navigation in Mobile Robots:” Cognitive Systems Research 4.4 (2003): 283–317. Web. 11 Apr. 2015.

Han, K. M., “Collision Free Path Planning Algorithms for Robot Navigation Problem ProQuest Dissertations & Theses Global - ProQuest.” ProQuest Dissertations & Theses Global. N.p., 2007. Web. 11 Apr. 2015.

Hsu, C. C, Hou, R. Y, and Wang, Y. W., “Path Planning for Mobile Robots Based on Improved Ant Colony Optimization.” 2013 IEEE International Conference on Systems, Man, and Cybernetics. IEEE, 2013. 2777–2782. Web. 31 May 2015.

Zhang, L., “Global Path Planning for Mobile Robot Based on A∗ Algorithm and Genetic Algorithm.” 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2012. 1795–1799. Web. 11 May 2015.

Via, Y. V., “OPTIMASI PENCAPAIAN TARGET PADA SIMULASI PERENCANAAN JALUR ROBOT BERGERAK DI LINGKUNGAN DINAMIS.” JUTI: Jurnal Ilmiah Teknologi Informasi 10.1 (2012): 15. Web. 11 May 2015.

Goyal, J. K, and Nagla, K. S., “A New Approach of Path Planning for MobileRobots.” 2014 International Conference on Advances in Computing, Communications and Informatics (ICACCI). IEEE, 2014. 863–867. Web. 11 Apr. 2015.

Xiaoxun, S., “Incremental Search-Based Path Planning for Moving Target Search - ProQuest.” N.p., 2013. Web. 5 July 2015.

Xiaoxun, S, Yeoh, W, and Koenig, S., “Efficient Incremental Search for Moving Target Search.” IJCAI International Joint Conference on Artificial Intelligence. N.p., 2009. 615–620. Web.

Dorigo, M., and Di C.G., “Ant Colony Optimization: A New Meta-Heuristic.” Proceedings of the 1999 Congress on Evolutionary Computation-CEC99 (Cat. No. 99TH8406). Vol. 2. IEEE, 1999. 1470–1477. Web. 13 Jan. 2016.



DOI: https://doi.org/10.22146/ijccs.15743

Article Metrics

Abstract views : 3467 | views : 3541

Refbacks

  • There are currently no refbacks.




Copyright (c) 2017 IJCCS - Indonesian Journal of Computing and Cybernetics Systems

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.



Copyright of :
IJCCS (Indonesian Journal of Computing and Cybernetics Systems)
ISSN 1978-1520 (print); ISSN 2460-7258 (online)
is a scientific journal the results of Computing
and Cybernetics Systems
A publication of IndoCEISS.
Gedung S1 Ruang 416 FMIPA UGM, Sekip Utara, Yogyakarta 55281
Fax: +62274 555133
email:ijccs.mipa@ugm.ac.id | http://jurnal.ugm.ac.id/ijccs



View My Stats1
View My Stats2