Perancangan Perilaku Menghindari Rintangan Untuk Robot Hexapod

ROHAMID, ROHAMID (2023) Perancangan Perilaku Menghindari Rintangan Untuk Robot Hexapod. Sarjana (S1) thesis, Universitas Islam "45" Bekasi.

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Abstract

In this research the authors focused on controlling a hexapod robot to avoid given obstacles using the Finite State Machine control method with three proximity sensors as inputs that are mounted facing forward, right and left. In this research, Arduino Due was used as a microcontroller and a distance sensor in the form of ToF (Time Of Flight) to measure the distance from the robot to the obstacle object. The results of the research prove with 10 trials at each distance in each arena with the parameters of the average speed of the robot at 7.5 cm/sec and a cruising time limit of 180 seconds for empty obstacles, 240 seconds for static obstacles and 300 seconds for dynamic obstacles. The robot successfully completes the obstacle avoidance mission in an empty arena with a sensor distance limit of 35 cm and an average cruising time of 139 seconds, at 35 cm with 131 seconds, 40 cm with 129 seconds, 45 cm with 124 seconds, and 50 cm with 124 seconds with the success of each distance reaching 100%. In an arena with static obstacles and sensor distance limits 30 cm with 144 seconds, at 35 cm with 131 seconds, at 40 cm with 130 seconds with 100% success, at 45 cm with 129 seconds with 50% success, and at 50 cm with a level 100% failure. In the arena of dynamic obstacles and sensor distance limits of 30 cm with 207 seconds, at 35 cm with 191 seconds, and 40 cm with 189 seconds with a success rate of 100%, at sensor distance limits of 45 cm and 50 cm the robot fails to carry out the mission with a failure rate 100%.

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