Implementation consensus algorithm and leader-follower of multi-robot system formation
| Main Authors: | Lilansa, Noval, Rizal, Muhammad Nursyam, Anggraeni, Pipit, Ramadhan, Nur Jamiludin |
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| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
Universitas Mercu Buana
, 2023
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| Subjects: | |
| Online Access: |
https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/15199 https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/15199/6474 https://publikasi.mercubuana.ac.id/index.php/sinergi/article/downloadSuppFile/15199/3020 |
Daftar Isi:
- Robot technology has recently been applied to many applications to help human activities. Mobile Robot is one of the most flexible robot technology. This research uses a mobile robot designed using an omnidirectional wheel for the movement mechanism. Coordination and control of multi-robots can be assigned to perform any task from a different kind of field. Therefore, this paper aims to develop a multi-robot system to form a formation to do the task. The multi-robot system consists of three units Mobile Robot. The formation system will be built based on a coordinate point determined by a consensus point. The leader-follower topology is used to determine the orientation of the robot. ROS (Robot Operating System) is used as middleware to create a multi-robot system. The Open Base package in Gazebo Simulator is also used to simulate the movement of the multi-robot. From three test scenarios, this research results show that all the robots can do and follow the tasks simulated in the Gazebo with an average accuracy of 88.14%. Furthermore, no feedback from the robot to the Gazebo Simulator affects the robot's accuracy average below 90%.