Muhtadin, Supeno Mardi Susiki Nugroho, Mauridhi Hery Purnomo : PENERAPAN ALGORITMA DINAMIK A* UNTUK PENENTUAN JALUR MOBILE ROBOT PADA AREA YANG BELUM DIKETAHUI.

Muhtadin ST., MT.
Supeno Mardi Susiki Nugroho ST., M.T.
Prof.Dr.Ir. Mauridhi Hery Purnomo M.Eng.

Year

2014

Published in

The 2nd Indonesian Symposium on Robot Soccer Competition

External link

-

Type

Seminar Nasional

Keywords

Dynamic A* SLAM global ultrasonic


Abstract

tion and Mapping), it needs some components such as path planning. This paper discuss about Dynamic A* application to get the nearest path in unknown environment. In this system path planning can be devided into two parts: global and local. Global applies A* with information got from color tracking by global camera. For local, it uses obstacle avoidance robot technic by processing data from ultrasonics. Testing Result of 10 times in the same environment achieved success of path tracking dynamically for about 90 . Robot pose error, for direction data is 4.34 and error for distance is 4.8