Penerapan Algoritma A-Star Sebagai Pencari Rute Terpendek pada Robot Hexapod

Dedy Hermanto, Sepri Dermawan, Sepri Dermawan

Abstract


A-Star is a path finding algorithm that combine Uniform Cost Search and Greedy-Best First Search. Uniform Cost Search will choose the smallest cost from start to goal, while Greedy-Best First Search uses a heuristic function to estimate the cost required from start to goal. This research aims to implement A-Star algorithm to find the fastest path for hexapod robot navigation. Hexapod robot is a type of robot that moves using six legs. The working principle of hexapod robot in this research is the robot moves according grid obtained from A-Star algorithm with the help of compass sensors and ultrasonic sensors. The compass sensor is used to navigate the robot directions in path that obtained from A-Star, while ultrasonic sensors is used to detect any obstacle on the robot path. When ultrasonic sensors detect the obstacle, the robot will move away and find the fastest path again using A-Star. The method used in this research is the development of systems with an iterative model. Based on the results of the testing, the A-Star algorithm can be used to find the fastest path on hexapod robot.

 

Keywords : A-Star Algorithm, Hexapod Robot, Iterative, Obstacle and Navigation


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References


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J.W. Kusuma dkk, Penerapan Invers Kinematik Terhadap Pergerakan Kaki pada Robot Hexapod, STMIK GI MDP (10 Agustus 2016), dari http://www.eprints.mdp.ac.id.

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DOI: https://doi.org/10.25077/jnte.v7n2.545.2018

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