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All Journal IAES International Journal of Robotics and Automation (IJRA) JTT (Jurnal Teknologi Terapan)
Naufaldo, Naufaldo
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Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Autonomous navigation system for hexa-legged search and rescue robot using LiDAR Budiyarto, Aris; Abadi, Sarosa Castrena; Naufaldo, Naufaldo
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i1.pp50-64

Abstract

This study proposes an autonomous navigation system for hexapod robots, promising in complex rescue scenarios. The system is tested in simulations under three environments: rocky, cracked flooring, and inclined surfaces. utilizing light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM), the robot recognizes positions and constructs environmental maps. Implemented via robot operating system, the research successfully applies navigation and mapping using hector_slam. LiDAR mapping yields satisfactory accuracy, with average errors of 0.21% for general mapping and 5.34% for circular paths. Within a 2-meter range, navigation achieves good accuracy, averaging 1.2% error on the x-axis and 0.011% on the y-axis during linear motion. Navigational repeatability improves, with reliable results showing an average error of 4.33 cm on the x-axis and 0.5 cm on the y-axis when returning to starting points. Arena testing with varied obstacles demonstrates successful obstacle traversal. However, in the second test, limitations in hardware, notably the Raspberry Pi 4 CPU usage reaching 97% during navigation, hindered reaching the third target.
RANCANG BANGUN PRODUK SUBSTITUSI SISTEM DATA LOGGER ALIRAN DAN TEKANAN AIR PADA ALIRAN PIPA TERTUTUP MENGGUNAKAN KOMUNIKASI LoRaWAN Supriyanto, Hadi; Aji, Wisnu; Martawireja, Abdur Rohman Harits; Abadi, Sarosa Castrena; Mulia, Sandy Bhawana; Candra, Wahyu Adhi; Pratama, Rizki Aji; Adi, Reka; Naufaldo, Naufaldo
Jurnal Teknologi Terapan Vol 10, No 2 (2024): Jurnal Teknologi Terapan
Publisher : P3M Politeknik Negeri Indramayu

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31884/jtt.v10i2.624

Abstract

The availability of data loggers as data acquisition is still limited to sensor levels and the data loggers have not been produced in Indonesia. This makes it difficult for monitors to obtain data such as water pressure and water discharge data. The solution to this problem is to reduce the import cost of purchasing data loggers from abroad by developing data loggers that are able to take data on water level, water pressure. This study aims to determine how the design and performance of data logger system substitution products flow and water pressure using LoRa WAN communication. The test results show that the Water Flow and Pressure Data logger System functions according to the design that has been made with error readings from the itron cyble sensor of ?? and a pressure sensor reading error of 20.66%. The Packet Loss value of sending data from the data logger device is directly proportional to the distance where the smallest packet loss value is 13% at a distance of 50m and 80% at a distance of 2800m.
Co-Authors Abadi, Sarosa Castrena Adi, Reka Aji, Wisnu Aris Budiyarto Candra, Wahyu Adhi Martawireja, Abdur Rohman Harits Pratama, Rizki Aji Sandy Bhawana Mulia, Sandy Bhawana Supriyanto, Hadi