Analisis Perbandingan Algoritma Perencanaan Jalur Robot Bergerak Pada Lingkungan Dinamis
Abstract: Development of
technology and complexity of an environment (dynamic environtment), the use of
algorithms in path planning becomes an important thing to do, problem to be
solved by the path planning is safe patch (collision-free), second is the
distance traveled, ie, the path length is generated from the robot start position
to the current target position and the thirdtravel time, ie, the timerequired
by the robot to reached its destination.this research uses ACO algorithm and
A-star Algorithm to determine the influence of obstacles (simple environment)
and also differences in the pattern of the target motion (linier and
sinusoidal)on the ability of the algorithm in pathplanning for finding the
shortest path. The test results show that for a simple environtment where the
state of target and obstacles still static,the resukt that A-star algorithm is
betterthan ACO algorithm both in terms of travel time and travel distance.
Testing with no obstacles, seen from the distance travelled differences
obtained of 0,57%, whereas for testing with obstacles difference of 9%. Testing
in a complex environtment where the targets and obstacles which
movesdinamically with a certain pattern, from the three environmental
conditions that has been tested, ACO algorithm is better than A-star algorithm
where the ACO algorithm can find a path with optimal distance or the sortest
distance.
Penulis: Tonny Suhendra
Kode Jurnal: jptinformatikadd170107
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