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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) Jurnal Ilmiah Kursor Proceeding of the Electrical Engineering Computer Science and Informatics Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) Journal of Information Technology and Computer Science (JOINTECS) Jurnal Kreativitas PKM Jurnal Mantik Bakti Cendana: Jurnal Pengabdian Masyarakat Patria : Jurnal Pengabdian Kepada Masyarakat Jurnal Mandala Pengabdian Masyarakat Insyst : Journal of Intelligent System and Computation Aptekmas : Jurnal Pengabdian Kepada Masyarakat Jurnal Pengabdian Pada Masyarakat Indonesia (JPPMI) Jurnal Nasional Teknik Elektro dan Teknologi Informasi Konstelasi: Konvergensi Teknologi dan Sistem Informasi Jurnal Atma Inovasia
Adri Gabriel Sooai
Ilmu Komputer Universitas Katolik Widya Mandira
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Journal : Jurnal Mantik

 1 
Real world design and implementation of pathfinding sewer inspection robot using a-star algorithm Atyanta Rumaksari; Adri Gabriel Sooai; Gloria Song Abimanyu; Gunawan Dewantoro; Hartanto Kusuma Wardana; Budihardja Murtianta; Lukas Bambang Setyawan
Jurnal Mantik Vol. 7 No. 1 (2023): May: Manajemen, Teknologi Informatika dan Komunikasi (Mantik)
Publisher : Institute of Computer Science (IOCS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35335/mantik.v7i1.3702

Abstract

This paper presents the design and implementation of a sewer inspection robot that utilizes the A-Star algorithm for pathfinding. The robot is intended to provide a more efficient solution for culvert workers in inspecting sewer pipes, particularly in hard-to-reach areas. The A-Star algorithm was chosen due to its ease of implementation and low computational resource requirements, making it suitable for real-time applications. The robot was designed with a modular approach, allowing for flexibility in adapting to different pipe sizes and configurations. It is equipped with various sensors and cameras, allowing for accurate inspection of pipe conditions and identification of potential issues. The A-Star algorithm was used to plan the robot's path through the sewer pipes, minimizing the time required for inspection and reducing the risk of damage to the pipes. The results of the implementation showed that the sewer inspection robot using the A-Star algorithm was able to efficiently navigate through the sewer pipes, reducing the time required for inspection and minimizing the need for manual labor. In order to check the performance, we performed experiments on six test models through simulation. On average, the proposed algorithm showed remarkable results, where all models can generate path planning to find the target from the start position. We obtained an average time completion from Models 1 to 6 with a maximum travel distance of 30 meters of 12.96, 4.47, 18.59, 20.71, 24.93, and 19.34 seconds.
Co-Authors Adi Nugroho Adrianus Ketmoen Adrianus Ketmoen Agustinus Bimo Gumelar Alfry Aristo Jansen Sinlae Alicia Herlin Mondolang Aloysius Djalo Ambrosius Faofeto Ambrosius Faofeto Anggelinus Nadut Anselmus Boy Baunsele Aris Winaya Atyanta Nika Rumaksari Atyanta. N. Rumaksari Benediktus Anindito Boelan, Erly G. Budihardja Murtianta Chantika Elisabeth Hermanus4 Corazon Olivia Sianturi Didimus Dedi Dhosa Donatus Joseph Manehat Dwiandri, Fransiskus Asisi Aditya Dyana Sarvasti Emerensiana Ngaga Erly G. Boelan Fanani, Nurul Zainal Fransiskus Asisi Aditya Dwiandri Frengky Tedy Gerardus Diri Tukan Gloria Song Abimanyu Gunawan Dewantoro Hartanto Kusuma Wardana Henny Angri Manafe Hildegardis Missa Ignatius Pricher Agung Nirwanto Samane Khamid Khamid Khamid Khamid Laniwati, Melania Lenciani Seran Lukas Bambang Setyawan Maftuchah Maftuchah Maria Augustin Lopes Amaral Mariano Albertho Dewa Dewa Do Nascimento Mauridhi Hery Purnomo Mauridhi Hery Purnomo Maximus M Taek Meolbatak, Emiliana Metan Merpiseldin Nitsae Mochammad Mizanul Achlaq Moh Noor Al-Azam Mondolang, Alicia Herlin Natalia Magdalena Rafu Mamulak Nurul Zainal Fanani Paskalis Andrianus Nani Paskalis Andrianus Nani Patrisius Batarius Paul L Tahalele Paulina Aliandu Perdana, Muhammad Ilham Ratumakin, Paulus A. K. L. Riksakomara, Edwin Sardina Ndukang Shine Crossifixio Sianturi Sianturi, Shine Crossifixio Sisilia Daeng Bakka Mau Sudiarti, Yeyen Surya Sumpeno Taek, Maximus M. Wiwik Anggraeni Yoaclina D. Ninu Yolinda Yanti Sonbay Yovinia Carmeneja Hoar Siki