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Abstract

Sistem multi-robot telah diterapkan pada tugas-tugas kompleks yang biasanya dilakukan oleh manusia. Untuk dapat menjalankan tugasnya, robot perlu bernavigasi ke dari suatu posisi ke posisi lain. Agar dapat bernavigasi dengan baik, robot memerlukan peta sebagai acuannya dalam bernavigasi. Simultaneous Localization and Mapping (SLAM) merupakan sebuah metode bagi robot untuk dapat membuat peta dan melakukan lokalisasi. ORB SLAM-2 merupakan sebuah metode SLAM berbasis sensor visual yang kompatibel terhadap kamera monokular, stereo, maupun RGBD. Dengan menggunakan kamera monokular, penelitian ini bertujuan untuk membuat rancangan sistem pemetaan lingkungan multi-robot dengan menggunakan algoritma ORB SLAM-2. Tugas akhir ini merancang sistem desentralisasi sehingga algoritma dijalankan pada kedua robot. Kemudian setiap robot melakukan pemetaan lingkungannya dan mengirimkannya ke komputer agar dapat divisualisasi. Pada percobaannya, rancangan ini berhasil membuat sistem melaksanakan tugasnya dengan baik. Peta yang dihasilkan oleh sistem ini memiliki skala sekitar 1 : 5,81. Sistem juga dapat memvisualisasikan peta yang dihasilkan oleh masing-masing robot pada sebuah komputer server. Berdasarkan hasil percobaan, dapat disimpulkan bahwa sistem pemetaan lingkungan multi-robot menggunakan ORB SLAM-2 dapat dilakukan dengan mendesentralisasi sistem. Dengan ini, beban kerja sistem terbagi menjadi dua, pertama pemrosesan gambar dilakukan oleh masing-masing robot hingga menghasilkan titik-titik peta dan kedua komputer server bertugas untuk memvisualisasikan titik-titik peta yang dihasilkan robot pada antarmuka pengguna.

Keywords

multi-robot monokular SLAM VSLAM

Article Details

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

Copyright (c): Pipit Angraeni, Ridwan Ridwan, Muhammad Taufiq Aulia Asshydiqi (2020)
How to Cite
Anggraeni, P., Ridwan, R., & Asshydiqi, M. (2020). Penerapan Algoritma ORB SLAM-2 Pada Sistem Pemetaan Lingkungan Multi Robot. INVOTEK: Jurnal Inovasi Vokasional Dan Teknologi, 20(3), 123-134. https://doi.org/https://doi.org/10.24036/invotek.v20i3.854

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