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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Sinergi Jurnal Teknologi Elektro Jurnal Arsitektur ZONASI Minda Baharu Jurnal Abdi Masyarakat (JAM) International Journal of Electrical, Energy and Power System Engineering (IJEEPSE) Jurnal Abdidas International Journal of Advanced Technology in Mechanical, Mechatronics and Material (IJATEC) Journal of Soft Computing Exploration Technologic Ranah Research : Journal of Multidisciplinary Research and Development Majority Science Journal TECHNOLOGIC
Yudhi Gunardi
Universitas Mercu Buana
Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Industrial & Manufacturing Engineering Law, Crime, Criminology & Criminal Justice Materials Science & Nanotechnology Mathematics Mechanical Engineering Public Health Social Sciences Transportation Other

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Pemodelan Matematis dan Simulasi MATLAB Navigasi Dua Arah Robot Delivery Menggunakan Mirror Petri Net Astuti Damayanti; Yudhi Gunardi
Ranah Research : Journal of Multidisciplinary Research and Development Vol. 8 No. 5 (2026): Ranah Research : Journal Of Multidisciplinary Research and Development
Publisher : Dinasti Research

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.38035/rrj.v8i5.2273

Abstract

Bidirectional navigation is required in robot delivery systems because the robot must reach a destination and return to its initial position after completing a task. Previous Petri Net studies have represented robot routes and location changes, but complete stepwise verification of outbound and return trips for multiple destinations remains limited. This study aims to develop a mathematical model and MATLAB simulation for bidirectional indoor robot delivery navigation using Petri Net and Mirror Petri Net. The model consists of 13 places, 12 transitions, one initial position, four branch points, eight destination rooms, and one token representing a robot. Eight outbound and eight return scenarios were simulated by checking enabled transitions, firing sequences, and marking changes. All eight destinations were reachable from the initial marking, and the initial position was reachable again from every destination. The outbound and return processes each required 28 firings, giving 56 firings for all round-trip tests. The model remained 1-bounded, conserved one token, made all 12 transitions accessible, and produced no unintended deadlock. The novelty lies in integrating stepwise bidirectional reachability, legal firing-sequence checking, and proper-termination verification in one MATLAB-based Mirror Petri Net framework.
Co-Authors Abdul Hamid Afrianto, Muhamad Wendi Agus Supranartha Ahmad 'Athif Mohd Faudzi Ahmad 'Athif Mohd Faudzi Akhmad Wahyu Dani Amir, Asia Andi Adriansyah Ardiyan, Avif Ari Gunawan, Made Fandy Santra Aris Munandar Arsil Fatwa Asep Yudi Permana Astuti Damayanti Badaruddin Badaruddin Danang Fajar Kuncoro Dirman Hanafi Dirman Hanafi Edy Susanto edy susanto Eko Ihsanto Eko Saputro Fadli Sirait Fatwa, Arsil Fina Supegina Fina Supegina Firmansyah Firmansyah Hisyam Abdul Rahman I Wayan Gede Suarjana I Wayan Sutama Indriyanus Manalor Indriyanus Manalor, Indriyanus Isack Farady Julpri Andika Jumadril J. N. Kamal Khairi Kamaruddin Ketty Siti Salamah Kwad, Ayad Mahmood Lilis Widaningsih, Lilis M. Hafiz Ibnu Hajar Mohammad Airul Mutaqin Muhamad Muhya Muhammad Hafizd Ibnu Hajar Oktoviana, Tria Candra Pancane, I Wayan Dikse Rachmat Muwardi Rozaimi Ghazali SALMA, MUTIARA Setiyo Budiyanto Sri Handayani Suwoyo, Heru Teguh Kartiko Wibowo Teguh Kartiko Wibowo, Teguh Kartiko Tria Candra Oktoviana Trie Maya Kadarina Triyanto Pangaribowo Wahid, Herman Yinzhong Tian Yuliza Yuliza Zendi Iklima