Implementasi Perencanaan Jalur menggunakan Algoritma Dijkstra pada Robot Roda Mecanum
DOI:
https://doi.org/10.30871/jaee.v8i2.8470Kata Kunci:
Robot Mecanum, Implementasi Algoritma Dijkstra, Perencanaan JalurAbstrak
Dengan kemajuan teknologi, banyak pekerjaan manusia yang berisiko digantikan oleh robot. Robot harus dapat bermanuver secara mandiri tanpa kendali manusia. Penelitian ini mengembangkan robot yang mampu bergerak dari titik awal ke tujuan serta menghindari tabrakan menggunakan algoritma Dijkstra, yang efektif dalam mencari jalur terpendek. Algoritma ini diimplementasikan pada robot mecanum yang dilengkapi dengan mikrokontroler Arduino, mini PC, baterai, motor DC dengan encoder, driver motor, dan perangkat lunak terkait. Penelitian ini menguji lima peta dengan titik awal dan tujuan yang sama, namun dengan letak halangan yang berbeda. Hasil pengujian menunjukkan bahwa robot mecanum berhasil menemukan jalur dan menghindari halangan dengan baik. Dengan kecepatan maksimal rata-rata 2.6 m/s, robot dapat menempuh jarak 3.2 meter tanpa halangan dalam waktu 14.96 detik, serta jarak 4.2 meter dengan halangan dalam waktu 22.82 detik. Penelitian ini menunjukkan potensi algoritma Dijkstra dalam perencanaan jalur dan navigasi robot, serta menggarisbawahi pentingnya penggunaan perangkat keras dan perangkat lunak yang tepat untuk mencapai kinerja optimal. Hasil ini dapat menjadi dasar bagi pengembangan lebih lanjut dalam bidang robotika, khususnya dalam aplikasi robot otonom di lingkungan yang dinamis.
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