PENERAPAN ALGORITMA BACKTRACKING UNTUK MAPPING PADA ROBOT “UNMUH_MALANG” DIAJANG KONTES TRINITY COLLEGE FIRE-FIGHTING HOME ROBOT CONTEST 2017 WALKING DIVISION
| Main Author: | Fatoni, Imam |
|---|---|
| Format: | Thesis NonPeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
, 2018
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| Subjects: | |
| Online Access: |
http://eprints.umm.ac.id/39044/1/PENDAHULUAN.pdf http://eprints.umm.ac.id/39044/2/BAB%20I.pdf http://eprints.umm.ac.id/39044/3/BAB%20II.pdf http://eprints.umm.ac.id/39044/4/BAB%20III.pdf http://eprints.umm.ac.id/39044/5/BAB%20IV.pdf http://eprints.umm.ac.id/39044/6/BAB%20V.pdf http://eprints.umm.ac.id/39044/7/LAMPIRAN.pdf http://eprints.umm.ac.id/39044/ |
Daftar Isi:
- Trinity College Fire-Fighting Home Robot Contest is one of the international robot contests that has a rescue mission of baby dolls and fire-fighting a candle. The participating robot in the race must be able to work automatically through simulation of a house where level 1 and 2 have four rooms and at level 3 has eight rooms connected by a hall 1 m long. The obstacles that exist on level 2 are cat dolls placed on one particular point, mirrors and also displaying shapes while at level 3 furniture is a mandatory obstacle that is placed in every room with the intention to obstruct the robot while navigating. In this study, the method of tracing the space and hallway used is using wallfollower in which the robot traces the room according to the specified mapping. Algorithm used in the process of mapping the Backtracking algorithm. The results of the tests that have been done on the MPU6050 sensor testing with different angles obtained precision values 30.21 °, 60.08 °, 90.27 °, 120.34 °, 150.37 °, 180.02 ° with an average error of 0.13%. While the Algorithm for Mapping Level 1 was obtained from 10 times probability obtained by robot reaching 99% with the smallest value of 6.6 seconds (Non-Arbitrary Start), Mapping Level 2 of 43 experiments got the fastest time of 5.64 seconds and Mapping Level 3 from 24 times the experiment obtained a success rate of 54,16 %.