SISTEM NAVIGASI MOBILE ROBOT DALAM RUANGAN BERBASIS AUTONOMOUS NAVIGATION

摘要

<p><em>Autonomous navigation is absolutely necessary in mobile-robotic, which consists of four main components, namely: perception, localization, path-planning, and motion-control. Mobile robots create maps of space so that they can carry out commands to move from one place to another using the autonomous-navigation method. Map making using the Simultaneous-Localization-and-Mapping (SLAM) algorithm that processes data from the RGB-D camera sensor and bumper converted to laser-scan and point-cloud is used to obtain perception. While the wheel-encoder and gyroscope are used to obtain odometry data which is used to construct travel maps with the SLAM algorithm, gmapping and performing autonomous navigation. The system consists of three sub-systems, namely: sensors as inputs, single-board computers for processes, and actuators as movers. Autonomous-navigation is regulated through the navigation-stack using the Adaptive-Monte-Carlo-Localization (AMCL) algorithm for localization and global-planning, while the Dynamic-Window-Approach (DWA) algorithm with Robot-Operating-System-(ROS) for local -planning. The results of the test show the system can provide depth-data that is converted to laser-scan, bumper data, and odometry data to single-board-computer-based ROS so that mobile-controlled teleoperating robots from workstations can build 2-dimensional grid maps with total accuracy error rate of 0.987%. By using maps, data from sensors, and odometry the mobile-robot can perform autonomous-navigation consistently and be able to do path-replanning, avoid static obstacles and continue to do localization to reach the destination point.</em></p>