Abstract
Intisari – Teknologi mobile robot telah menjadi bagian dari keseharian manusia. Perkembangannya yang cepat telah menghasilkan robot–robot yang digunakan untuk tujuan khusus seperti layanan kebersihan, memindahkan barang di gudang, dan otomasi lainnya. Robot–robot ini biasanya memiliki kemampuan navigasi otomatis yang dihasilkan dari pelatihan berupa peta jalur yang akan dilalui. Permasalahannya adalah cukup banyak metode dengan tujuan tersebut yang tidak menyertakan metode penghalusan jalur saat membelok. Penambahan teknik tersebut memang memberatkan kerja otak robot apalagi jika metode yang digunakan cukup kompleks sehingga membutuhkan perangkat keras yang mahal. Penelitian ini mengusulkan pendekatan metode linear dan cubic terhadap persamaan aslinya. Hasilnya menunjukkan bahwa nilai mean squared error keduanya 0,7789 dan 0,7365 dengan waktu komputasi sekitar 0,809 detik dan 0,836 detik. Maka kedua pendekatan ini cukup menjanjikan untuk diterapkan pada perangkat keras yang murah untuk aplikasi mobile robot.Kata kunci – mobile robot, penghalusan jalur, interpolasi, linear, cubicAbstract – Mobile robot technology has become our daily need. The pace of development has yielded various useful robots that can do specific tasks like cleaning services, transporting stuff in a warehouse, and automation. These robots usually have self-navigation ability that comes from a pre-training map in the form of trajectories. The problem is most of the methods do not consider the path smoothing at a turning point. This is because it can burden the robot processor. Hence, in this research, we implemented an estimation of the two most popular methods in path smoothing based on interpolation which are linear and cubic interpolations. The result shows that the mean squared error between the estimated and original formula of interpolation is around 0.7789 and 0.7365 with execution times around 0.809 seconds and 0.836 seconds, respectively. Hence, both estimation methods can be very promising to be implemented in real-world mobile robots application.Keywords – mobile robot, path smoothing, interpolation, linear, cubic
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Jurnal Listrik, Instrumentasi, dan Elektronika Terapan
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
