Navigasi Robot Mobile Pada Lingkungan Tak Pasti Dengan Pendekatan Behavior Based Control

Ilona Usuman(1*), Widodo Prijodiprodjo(2), Prima Asmara Sejati(3)

(1) (Scopus ID : 57191193710); Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta
(2) Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta
(3) Departemen Teknik Elektro dan Informatika, Sekolah Vokasi UGM, Yogyakarta
(*) Corresponding Author


Robots have been widely used to reach difficult environments or terrain such as disaster areas, wilderness and ruins of buildings. However, to reach these areas, there are many constraints on the limitations of robotic navigation because of the dynamic terrain. Therefore, a behavioral based control algorithm is needed that can make robots adapt flexibly to their environment.

On the scheme of this behavior based control the robot moves based on its tasks. Each task is defined as robotic behavior. Each behavior take input from the sensor and send output to the effector. At each behavior there is a sensor as input for robot that work according to the stages in navigation to overcome uncertain obstacles. The results of the study show that robot can explore, avoid obstacles and reach the final destination.


Robot mobile;Behavior based control;Uncertainty environment;Robot Navigation

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