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Abstract

Lokalisasi merupakan komponen krusial dalam sistem navigasi robot beroda, khususnya pada Unmanned Ground Vehicle (UGV) yang beroperasi di lingkungan indoor. Metode lokalisasi berbasis Extended Kalman Filter (EKF) banyak digunakan karena kemampuannya mengintegrasikan data prediksi dan pengukuran sensor. Namun, penggunaan encoder internal yang terpasang pada roda penggerak sering menghadapi kendala berupa slip roda, sehingga menurunkan akurasi estimasi posisi. Penelitian ini mengusulkan desain odometry eksternal dengan dua roda omni yang ditempatkan pada konfigurasi T untuk memberikan data prior yang lebih akurat bagi EKF. Pengujian dilakukan pada lintasan lurus, persegi, dan S-shape dengan membandingkan performa EKF menggunakan encoder internal dan odometry eksternal. Hasil eksperimen menunjukkan bahwa sistem dengan odometry eksternal menghasilkan error rata-rata 40–50% lebih rendah serta waktu konvergensi 30–40% lebih cepat dibandingkan encoder internal. Temuan ini membuktikan bahwa odometry eksternal dapat meningkatkan akurasi dan efisiensi proses lokalisasi EKF pada UGV indoor, sehingga berpotensi meningkatkan keandalan navigasi pada aplikasi nyata seperti robot logistik maupun layanan di ruang tertutup.

Keywords

Lokalisasi EKF UGV indoor Odometry Eksternal Roda Omni

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Copyright (c) 2025 Gillang Al Azhar, Fitri, Adi Candra Kusuma, Wahyu Aulia Nurwicaksana, Adzikirani

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

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