Optimalisasi Algoritma Pergerakan dengan Menggunakan Cut Motion yang Diterapkan untuk Robot Berkaki Enam pada Kontes Robot Pemadam Api Indonesia

Abstract

In Kontes Robot Pemadam Api Indonesia (KRPAI) 2015 at Regional stage yesterday, R2C – Acheron (The UKSW legged-division robot) became the winner, but lose at the elimination process in National stage. The lost cause is because the robot crashed into the doll, which as the rule stated, the robot will be disqualified and will get a minus poin. Robot crashed because of the movement that weren’t responsive enough. The robot became not responsive because it has to finish one movement first, just after that it can receive an order to do the other movement. Generally, this system consists of microcontroller, sensors, fire extinguisher module, and robot’s algorithm. Microcontroller is functioned as main controller of system that’s used to read sensor’s data, process data, and then give command to servo controller and fire extinguisher. Sensors are used to help robot in navigation, starts movement, detect brightness in floor surfaces, detects fire spot, and detects the doll. Testing is done in three sessions, in each session the robot’s movement algorithm is tested 30 times. In the first session, using the first algorithm the percentage of success for the robot to follow the wall is 40% and 90% for the robot to stop before it crashed to the doll. Using the second algorithm, the percentage of success for the robot to follow the wall is 80% and 100% for the robot to stop before it crashed to the doll. In the second session, the percentage of success is 36.67% for the first algorithm and 100% for the second algorithm. In the third session, the percentage of success is 36.67% for the first algorithm and 96.67% for the second algorithm.