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Stereo vision-based obstacle avoidance module on 3D point cloud data Eko Purbo Wahyono; Endah Suryawati Ningrum; Raden Sanggar Dewanto; Dadet Pramadihanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 3: June 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i3.14829


This paper deals in building a 3D vision-based obstacle avoidance and navigation. In order for an autonomous system to work in real life condition, a capability of gaining surrounding environment data, interpret the data and take appropriate action is needed. One of the required capability in this matter for an autonomous system is a capability to navigate cluttered, unorganized environment and avoiding collision with any present obstacle, defined as any data with vertical orientation and able to take decision when environment update exist. Proposed in this work are two-step strategy of extracting the obstacle position and orientation from point cloud data using plane based segmentation and the resultant segmentation are mapped based on obstacle point position relative to camera using occupancy grid map to acquire obstacle cluster position and recorded the occupancy grid map for future use and global navigation, obstacle position gained in grid map is used to plan the navigation path towards target goal without going through obstacle position and modify the navigation path to avoid collision when environment update is present or platform movement is not aligned with navigation path based on timed elastic band method.
Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Endah Suryawati Ningrum; Rizky Yuniar Hakkun; Ali Husein Alasiry
EMITTER International Journal of Engineering Technology Vol 3 No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (816.382 KB) | DOI: 10.24003/emitter.v3i2.48


This research deals with formation control of swarm robot based on changing of robot’s relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader
Scientific Journal of Mechanical Engineering Kinematika Vol 8 No 2 (2023): SJME Kinematika Desember 2023
Publisher : Mechanical Engineering Department, Faculty of Engineering, Universitas Lambung Mangkurat

Show Abstract | Download Original | Original Source | Check in Google Scholar


An ornithopter or flapping-wing is a robot that resembles the wings’ mechanics of birds, insects or bats. The application of this type of UAV ranges from photography to the military. This study's main discussion is designing and constructing the ornithopter wing mechanical system with a double-joint wing flapping system. The novelty submitted in this study was the material used to construct the ornithopter wing, namely rod carbon for the skeleton and plastic for the wing. The aim was to discover the aerodynamic performance of the wing and the whole ornithopter. The study results showed that for single wing, the value of CL/CD was high. However, the ornithopter design should be improved to get the thrust force higher than drag force. In addition, the velocity starts to increase stably at throttle 33.3%. Furthermore, for the ornithopter, it was found that the lift force was greater than the down force, so that, theoretically, the robot could fly. The largest lift occurred when the frequency values were 0.88 and 0.97