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All Journal Indonesian Journal of Physics (IJP)
Maria Evita
ITB
Astronomy Computer Science & IT Earth & Planetary Sciences Electrical & Electronics Engineering Energy Engineering

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A Review of Mobile Robot Navigation System for Volcano Monitoring Application Maria Evita
Indonesian Journal of Physics Vol 32 No 1 (2021): Vol 32 No 1 (2021)
Publisher : Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (404.429 KB) | DOI: 10.5614/itb.ijp.2021.32.1.1

Abstract

Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.
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