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Muhammad Nursyam Rizal
Department of Manufacturing Automation and Mechatronics Engineering, Politeknik Manufaktur Bandung
Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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Journal : Sinergi

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Implementation consensus algorithm and leader-follower of multi-robot system formation Noval Lilansa; Muhammad Nursyam Rizal; Pipit Anggraeni; Nur Jamiludin Ramadhan
SINERGI Vol 27, No 1 (2023)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2023.1.006

Abstract

Robot technology has recently been applied to many applications to help human activities. Mobile Robot is one of the most flexible robot technology. This research uses a mobile robot designed using an omnidirectional wheel for the movement mechanism. Coordination and control of multi-robots can be assigned to perform any task from a different kind of field. Therefore, this paper aims to develop a multi-robot system to form a formation to do the task. The multi-robot system consists of three units Mobile Robot. The formation system will be built based on a coordinate point determined by a consensus point. The leader-follower topology is used to determine the orientation of the robot. ROS (Robot Operating System) is used as middleware to create a multi-robot system. The Open Base package in Gazebo Simulator is also used to simulate the movement of the multi-robot. From three test scenarios, this research results show that all the robots can do and follow the tasks simulated in the Gazebo with an average accuracy of 88.14%. Furthermore, no feedback from the robot to the Gazebo Simulator affects the robot's accuracy average below 90%. 
Co-Authors Noval Lilansa Nur Jamiludin Ramadhan Pipit Anggraeni