12006_sidang 26 mei 2015 (1)
DESCRIPTION
punya bangsamTRANSCRIPT
`
DESIGN AND IMPLEMENTATION OF AUTOMATIC GUIDED VEHICLE (AGV) SYSTEM USING DIJKSTRA ALGORITHM
FOR POSITION INFORMATION AND NAVIGATION
Samuel Febrikab Dwiprasetiabudhi
1105100007
1ST ADVISOR
ANGGA RUSDINAR, S.T., M.T., PhD.
NIP : 07740390-1
2ND ADVISOR
RAMDHAN NUGRAHA, M.T.
NIP : 14861327-1
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Content
• Introduction• System Design• Result Analysis• Conclusion
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Background
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Goals
• Line Following for navigation• Use RFID as Position Information• Dijkstra Algorithm to find The Shortest Path
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Scope of Problem
• Map already stored into the system• Use ATMega2560(Master) and ATMega328
(Slave) as Microcontrollers• 48mm track width• 1st terminal as starting position• Robot weigh approximately 20 kg
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System Design
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System’s Mechanic Design
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Master Flowchart
START
Initialization
Bluetooth Input Data
Correct Data?
Dijkstra Algorithm
Photodiode Sensor Input
Fuzzy Logic
Actuator Active
RFID Input Data
There is RFID data?
AGV Moving According The Program
Target was fullfilled?
FINISH
AGV Parked
2
2
3
2
1
3
1
Yes
No
Yes
Yes
No
No
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Slave Flowchart
Start
Initialization
RFID Reader Data Input
Output data transfer to master
End
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Line Sensor and RFID Module
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Line Sensor’s Schematic
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RFID Module Schematic
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Fuzzy Logic Flowchart
Start
Initialization
Photodiode Sensor Input
Fuzzyfication
End
Rule Inference
Defuzzyfication
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Fuzzy Logic
Front Sensor
Back Sensor
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Fuzzy Logic
Depan
Belakang LEBIH KIRI KIRI TENGAH KANANLEBIH
KANAN
KIRI LC C P SP SPS
TENGAH SC LC N LP SP
KANAN SCS SC C P LP
DepanBelakang LEBIH KIRI KIRI TENGAH KANAN
LEBIH KANAN
KIRI LP P C SC SCS
TENGAH SP LP N LC SC
KANAN SPS SP P C LC
Left Motor Rule Inference
Right Motor Rule Inference
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Fuzzy Logic
Right Motor Output
Left Motor Output
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RFID Flowchart
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RFID Placement
248.2 cm
186.4 cm
41.5 cm
438.7 cm
226.3 cm
1
2
3
4
0
5
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Djikstra Algorithm
248.2 cm
186.4 cm
41.5 cm
438.7 cm
226.3 cm
1
2
3
4
0
5Starting position on first terminal,End on fourth terminal
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248.2 cm
186.4 cm
41.5 cm
438.7 cm
226.3 cm
1
2
3
4
0
5
1 →2 = 248.2 cm1 →3 = 186.4 cmThen 1 →3 was chosen
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248.2 cm
186.4 cm
41.5 cm
438.7 cm
226.3 cm
1
2
3
4
0
5
1 → 3 → 4 = 625.1 cm1 → 3 → 2 = 227.9 cm1 → 2 =248.2 cmThen 1 → 3 → 2 was chosen
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248.2 cm
186.4 cm
41.5 cm
438.7 cm
226.3 cm
1
2
3
4
0
5
1 → 3 → 4 = 625.1 cm1 → 3 → 2 → 4 = 454.2 cmThen 1 → 3 → 2 → 4 was chosen
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Result Analysis
SensorNilai Pembacaan Sensor
Hitam Putih
1 714 192
2 580 193
3 643 197
4 705 198
5 650 200
6 612 194
7 614 198
8 764 198
SensorNilai Pembacaan Sensor
Hitam Putih
9 688 199
10 545 194
11 754 194
12 586 194
13 678 199
14 793 195
15 609 197
16 830 196
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No
TIME COST PER DESTINATION (SECOND) / TAG
STATUS TIME (SECOND)
1 - 3 3 - 2 2 - 4
1 12.73 (OK) 4.85 (OK) 17.44 (OK) BERHASIL 35.02
2 13.09 (OK) 3.74 (OK) 18.72 (OK) BERHASIL 35.55
3 12.73 (OK) 5.36 (OK) 17.10 (OK) BERHASIL 35.19
4 12.42 (OK) 6.84 (OK) 15.57 (OK) BERHASIL 34.83
5 13.36 (OK) 5.63 (OK) 15.84 (OK) BERHASIL 34.83
6 13.00 (OK) 3.83 (OK) 18.00 (OK) BERHASIL 34.83
7 12.91 (OK) 3.87 (OK) 17.78 (OK) BERHASIL 34.56
8 12.66 (OK) 4.10 (OK) 18.12 (OK) BERHASIL 34.88
9 12.87 (OK) 4.82 (OK) 18.04 (OK) BERHASIL 35.73
10 12.06 (OK) 4.14 (OK) 17.23 (OK) BERHASIL 33.43
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NOTIME COST PER DESTINATION (SECOND) /
TAG STATUS TIME (SECOND)4 - 2 2 – 3 3 - 1
1 16.29 (OK) 19.75 (OK) 36.49 (OK) BERHASIL 36.49
2 19.26 (OK) 23.26 (OK) 38.29 (OK) BERHASIL 38.29
3 15.78 (OK) GAGAL GAGAL GAGAL GAGAL4 GAGAL GAGAL GAGAL GAGAL GAGAL5 19.08 (OK) GAGAL GAGAL GAGAL GAGAL6 19.89 (OK) 23.89 (OK) 39.87 (OK) BERHASIL 39.87
7 20.20 (OK) GAGAL (OK) GAGAL GAGAL GAGAL8 18.67 (OK) 22.68 (OK) 38.56 (OK) BERHASIL 38.56
9 18.54 (OK) 22.36 (OK) 37.80 (OK) BERHASIL 37.80
10 18.76 (OK) 22.23 (OK) 38.53 (OK) BERHASIL 38.53
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Conclusion
• Target-to-target movement already fulfilled• AGV could move from first to forth terminal
and back