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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Sinergi Jurnal Teknologi Elektro Proceeding of the Electrical Engineering Computer Science and Informatics JOURNAL OF INFORMATICS AND TELECOMMUNICATION ENGINEERING InComTech: Jurnal Telekomunikasi dan Komputer TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer Jurnal Abdi Masyarakat (JAM) Journal of Robotics and Control (JRC) Journal of Applied Engineering and Technological Science (JAETS) Indonesian Journal of Electrical Engineering and Computer Science Jurnal Abdidas Journal FORTEI-JEERI Journal of Community Service International Journal of Engineering Continuity Journal of Embedded Systems, Security and Intelligent Systems
Suwoyo, Heru
Universitas Mercu Buana
Aerospace Engineering Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Public Health Social Sciences Other

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Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements Heru Suwoyo; Andi Adriansyah; Julpri Andika; Muhammad Hafizd Ibnu Hajar; Rizky Dinata; Thathit Gumilar Triwidya Mochtar; Muhammad Yusuf; Fajri Rezki Hutomo
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.148

Abstract

The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.
Review Paper: Key Points on Robot Navigation and Its Practical Uses in the Field of Manufacturing Heru Suwoyo; Julpri Andika; Taufik Hidayat
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.227

Abstract

Key aspects are covered in this review article, along with a brief explanation of mobile robot navigation and its uses in the industrial sector. This study emphasizes the significance of robot navigation in enhancing productivity, efficiency, and safety in manufacturing processes by compiling important ideas from the body of research and literature. This study investigates several robot navigation algorithms and strategies, from simple algorithms to sophisticated ones like SLAM (Simultaneous Localization and Mapping). This study also examines particular issues and concerns about the application of robot navigation systems in industrial settings, such as path planning, obstacle avoidance, and worker cooperation. This paper presents some noted applications of robot navigation, such as material handling, assembly, quality control, and logistics, using case studies and examples. The conversation also touches on new developments and prospective paths for robot navigation technology, highlighting the possibility for more innovation and connection with Industry 4.0 projects. All things considered, this review article is an invaluable tool for scholars, practitioners, and business experts who want to comprehend the function of robot navigation in contemporary manufacturing processes and how it will affect industrial automation in the future.
Adaptive bidirectional heuristic rapidly exploring random tree* for efficient path planning Heru Suwoyo; Ahmad 'Athif Mohd Faudzi; Andi Adriansyah; Yudhi Gunardi; Julpri Andika; Yinzhong Tian
Bulletin of Electrical Engineering and Informatics Vol 15, No 3: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v15i3.11859

Abstract

Sampling-based path planning algorithms such as rapidly exploring random tree* (RRT*) are widely used for autonomous navigation in complex environments. However, many RRT variants suffer from slow initial exploration, suboptimal convergence, and search inefficiency in dense spaces. Based on this, adaptive bidirectional heuristic-RRT* (ABH-RRT*) is proposed. It is a novel method introduced as a unified path planner. ABHRRT* integrates bidirectional tree growth, heuristic-based parent selection, fast-informed hybrid sampling, and adaptive reordering to improve exploration efficiency and path optimality. The algorithm speeds up the initial path recovery caused by the presence of dual tree expansion and fast sampling. In addition, the algorithm also refines the solution using informed sampling and adaptive reordering to improve convergence toward near-optimal paths. The performance of ABH-RRT* is evaluated in four environments with different complexity levels and compared with RRT, RRT*, Fast-RRT*, Smart-RRT*, and Informed-RRT*. Experimental results show that ABH-RRT* consistently produces shorter paths and faster convergence, reduces path cost by 2–24% and increases convergence speed by 40–58% in dense and constrained environments. These results show that ABH-RRT* is a better and adaptive solution for path planning in complex scenarios.
Performance Analysis Of Smooth Variable Structure Filter (SVSF) For Noise Reduction In Voltage, Current, And Power Estimation Of Photovoltaic (PV) Systems Elly Hastiningtyas; Ike Yuni Wulandari; Heru Suwoyo
JOURNAL OF INFORMATICS AND TELECOMMUNICATION ENGINEERING Vol. 10 No. 1 (2026): Issues July 2026
Publisher : Universitas Medan Area

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31289/jite.v10i1.18421

Abstract

Photovoltaic (PV) systems are renewable energy sources whose performance is affected by changes in irradiation and temperature, so that noise interference in voltage and current signals can degrade the quality of power processing. This study proposes the use of a Smooth Variable Structure Filter (SVSF) as a signal processing stage before being used by the MPPT algorithm, because SVSF has robust properties against model uncertainty and measurement interference. Testing was carried out through Matlab-based simulations with input voltage and current signals and Gaussian noise injection to represent dynamic PV operating conditions. The simulation results showed that the SVSF was able to reduce power fluctuations by 83.92%, with an MAE value of 3.06 W and an RMSE of 4.3 W. Thus, the proposed method is able to produce a filtered power signal that is smoother, has lower ripple, and is closer to the actual PV power characteristics
An Enhanced Informed-RRT* Integrating Bidirectional Exploration, Fast Sampling, and Local Path Optimization Heru Suwoyo; Taufik Hidayat; Yingzhong Tian; Julpri Andika; Andi Adriansyah
Journal of Embedded Systems, Security and Intelligent Systems Vol 7 No 2 (2026): June 2026
Publisher : Program Studi Teknik Komputer

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59562/jessi.v7i2.12223

Abstract

Purpose – This study aims to improve the efficiency and path quality of Informed-RRT* for mobile robot path planning in complex environments by integrating bidirectional exploration, fast sampling, and local path optimization. Design/methods/approach – The proposed method follows a two-stage framework. In the initial exploration phase, two search trees are expanded bidirectionally using fast sampling to accelerate feasible path discovery. An ancestor-based parent selection mechanism based on the triangular inequality principle is then applied to improve local path quality and reduce inefficient rewiring. After an initial path is found, the algorithm switches to an informed optimization phase using ellipsoidal sampling while maintaining simultaneous two-tree expansion. The proposed method was evaluated in three two-dimensional static environments with different levels of complexity and compared with Fast-RRT* and Informed-RRT*. Performance was assessed using path cost, computation time, number of iterations, and Wilcoxon signed-rank testing. Findings – The results show that the proposed method consistently achieves lower path cost, shorter computation time, and fewer iterations than the baseline methods. Across simple to maze environments, the method reduces computation time by approximately 24–75% and improves path optimality by approximately 3.9–4.8%. Statistical testing confirms significant improvements in more constrained and maze-like environments. Research implications/limitations – The study demonstrates that combining accelerated exploration and local optimization can improve sampling-based path planning performance. However, the evaluation is limited to two-dimensional static environments and selected baseline methods. Originality/value – The proposed framework provides an enhanced Informed-RRT* approach that jointly addresses initial exploration efficiency, local path refinement, and informed optimization within a unified planning strategy.
Co-Authors Abdurohman Abdurohman Ahmad 'Athif Mohd Faudzi Ahmad 'Athif Mohd Faudzi Akhmad Wahyu Dani Andi Adriansyah Angela Dirman Arrais, Muchammad Taufiqi Burhanudin, Achmad Chenwei Deng Deng, Chenwei Elly Hastiningtyas Fadli Sirait Fahrudin Fahrudin Fajri Rezki Hutomo Febriandirza, Arafat Fengfeng Xi Ferryawan Harris Kristanto Fina Supegina Fina Supegina Guangjie Yuan Hastomi, Yudi Hossain, Md Musabbir Ike Yuni Wulandari Indriyanti, Prastika Isack Farady Jibran, Alwan Julpri Andika Ketty Siti Salamah Kusuma, Hiero Kusuma, Prima Wijaya Lestari, Reza Ayu Li, Long Long Li Long Li Mahardika, Erlintang Md Musabbir Hossain Muhammad Hafizd Ibnu Hajar Muhammad Ilham Muhammad Yusuf Nazori AZ Putra, Firoos Safana Rachmat Muwardi Raudah Alfiani Rizky Dinata Shamsudin, Abu Ubaidah Taufik Hidayat Taufikurohman, Nur Aziz Thathit Gumilar Triwidya Mochtar Thong, Zhou Tian, Yingzhong Tian, Yingzhong Tong Zhou Trie Maya Kadarina Triyanto Pangaribowo Wang, Wenbin Wenbin Wang Wenbin Wang Winiyoga, January Dwidasa Yifan Li Yingzhong Tian Yingzhong Tian Yingzhong Tian Yingzhong Tian Yingzhong Tian Yinzhong Tian Yudhi Gunardi Yuliza Yuliza Zendi Iklima Zhou Thong