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All Journal Cylinder : Jurnal Ilmiah Teknik Mesin
Tommy Tommy
Universitas Katolik Indonesia Atma Jaya
Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Path-Planning Module for Tricycle Mobile Robot Tommy Tommy; Christiand Christiand; Frederikus Wenehenubun
Cylinder : Jurnal Ilmiah Teknik Mesin Vol 12 No 1 (2026): April 2026
Publisher : Department of Mechanical Engineering Atma Jaya Catholic University of Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/cylinder.v12i1.7901

Abstract

The path planning module is essential for the navigation of autonomous systems. This research aims to develop a path-planning module in Python programming language using the A* algorithm in conjunction with V-REP software which is used to simulate the path-planning outcome. The A* algorithm is used in this research to implement path-planning for a tricycle mobile robot. Both simulated and physical studies were performed to evaluate the module's performance. In the experiments, inputs of velocity and steering angle are given to the mobile robot at every period as obtained from the simulation regression. The discrepancy between the simulated and physical experimental results was attributed to the inertia force acting on the robot and other factors. The steering angle dominance on a mobile robot also affects the final position of the robot.
Co-Authors Christiand Christiand Frederikus Wenehenubun