IMPLEMENTASI PATH PLANNING DAN OBSTACLE AVOIDANCE ROBOT MOBILE BERBASIS ROS2 MENGGUNAKAN SENSOR LIDAR RPLIDAR A1

PRATAMA, BAMBANG BAYU (2026) IMPLEMENTASI PATH PLANNING DAN OBSTACLE AVOIDANCE ROBOT MOBILE BERBASIS ROS2 MENGGUNAKAN SENSOR LIDAR RPLIDAR A1. Other thesis, Universitas Nurul Jadid.

Text robot lidar bayu 2 fik.pdf Restricted to Registered users only Download (6MB) | Request a copy

Abstract

Optimal and responsive autonomous navigation in confined indoor environments remains a key challenge in mobile robotics. Furthermore, performance evaluations of obstacle avoidance systems are often conducted globally without detailed multi-directional analysis validated by manual measurements. This study aims to implement and evaluate the accuracy of a multidirectional path planning and obstacle avoidance system on the differential drive mobile robot "GixBot" at the Control System Laboratory of Electrical Engineering, Universitas Nurul Jadid. Based on experimental testing, the LiDAR sensor successfully detected obstacles in real-time from four directions, yielding an average detection distance of 1.26 meters from the front, 0.67 meters from the left, 0.64 meters from the right, and 1.00 meter from the back. Side detections occurred at closer ranges due to the robot's physical width when operating in narrow passages. The integration of navigation algorithms successfully produced smooth and stable robot maneuvers with an average clean navigation time of 14.8 seconds. The system implementation achieved a 100% navigation success rate across 9 route trials, with an average of 3.2 retries per trial caused by localization dynamics. Future work should refine the obstacle detection zones into smaller angular increments (e.g., every 15°) and develop algorithms to handle dynamic obstacles.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Mobile Robot, ROS2 Jazzy, RPLiDAR A1, Path Planning, Obstacle Avoidance.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	Fakultas Teknik > S1 Teknik Elektro
Depositing User:	Unnamed user with email ubay05109@gmail.com
Date Deposited:	25 Oct 2026 00:28
Last Modified:	25 Oct 2026 00:28
URI:	https://repository.unuja.ac.id/id/eprint/5746

Actions (login required)

View Item