THE DEVELOPMENT OF SPHERICAL ROBOTS WITH HYBRID DELIBERATIVE/REACTIVE ARCHITECTURE FOR SWARM PATROL

• Main Author: Saputra & Muhammad Akbarul Aizs, Cahya
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/41451
• Institution: Institut Teknologi Bandung

Swarm robotics is the study of how to coordinate a large group of robots that are relatively simple through the application of several rules. The applications of this technology are very diverse, such as to patrol. The development of this application is supported by the presence of a spherical robot design, which has many advantages for patrolling. For this reason, it’s necessary to develop a swarm control system for spherical robots to conduct patrols so that they can run optimally. In this Final Project, a spherical robots swarm control system for optimal patrol will be built. This system consists of sensor, personal computer and spherical robots. The sensor used is a camera that will model the area and create a digital path. The position of the sensor is placed above the area, so it has a third person point of view. The process of control is done through a computer because it requires large memory. On the computer, digital paths are processed so that optimal paths can be obtained. After that, the robots are ordered to move in accordance with the specified path with commands that would be sent via Bluetooth embedded on the computer. The design of this robot system uses hybrid deliberative/reactive architecture. With this architecture, the abilities of robots are designed based on the lowest level of the intelligence until the highest level of the intelligence, until the robots have completed it capabilities. This is a combination of deliberative and reactive architecture. The tests are carried out by one robot and two robots. The tests are carried out on a path consisting of points A, B, C, D, E and Z which was connected to create 9 segments. The test result show that by using one robot, the average time needed to go through one patrol round is 37.33 seconds. Meanwhile, the time needed by two robots for one patrol round are 27.5 seconds or 1.35 times faster than one robot. The next parameter is the number of segments that can be passed in units of time (one minute) or called patrol performance. The results of the patrol performance for one robot is 17.9 segments, while the result of the patrol performance for the two robots are 25.05 segments or 1.4 times more than one robot.