| Abstrak/Abstract |
Building a robot that is perform a thorough area
scan can be done by applying chaotic motion. To be able to
build a robot that can avoid an obstacle, it is necessary to add an
obstacle avoidance algorithm. In this study, two algorithms were
combined: Double-Scroll Chua Attractor and Artificial Potential
Field (APF). Double-Scroll Chua Attractor was used to create
the chaotic motion for mobile robot path planning. Meanwhile,
the APF algorithm was used for obstacle avoidance. To get the
desired result, it is necessary to constrains parameter, i.e.: initial
condition, number of iteration, and speed. The obstacle used in
this study was a circular obstacle with a radius of 0.001 meter.
It was placed in various coordinates and the path planning of
the mobile robot was able to avoid it well. The simulation results
of this study show that the robot is capable of scanning the area
while avoiding obstacles in certain coordinates. |
