Cheap and Fast Implementation of Linear and Cubic Piecewise Interpolation for Robot Path Smoothing on Arduino Uno Board

https://doi.org/10.22146/juliet.v3i2.71227

Trias Prima Satya(1), Jans Hendry(2*), Aditya Putra Yudhananta(3), Zubainindra Bagus F. Meliawan(4)

(1) Department of Electrical Engineering and Informatics, Universitas Gadjah Mada
(2) Department of Electrical Engineering and Informatics, Universitas Gadjah Mada
(3) Department of Electrical Engineering and Informatics, Universitas Gadjah Mada
(4) Department of Electrical Engineering and Informatics, Universitas Gadjah Mada
(*) Corresponding Author

Abstract


Intisari – Teknologi mobile robot telah menjadi bagian dari keseharian manusia. Perkembangannya yang cepat telah menghasilkan robot–robot yang digunakan untuk tujuan khusus seperti layanan kebersihan, memindahkan barang di gudang, dan otomasi lainnya. Robot–robot ini biasanya memiliki kemampuan navigasi otomatis yang dihasilkan dari pelatihan berupa peta jalur yang akan dilalui. Permasalahannya adalah cukup banyak metode dengan tujuan tersebut yang tidak menyertakan metode penghalusan jalur saat membelok. Penambahan teknik tersebut memang memberatkan kerja otak robot apalagi jika metode yang digunakan cukup kompleks sehingga membutuhkan perangkat keras yang mahal. Penelitian ini mengusulkan pendekatan metode linear dan cubic terhadap persamaan aslinya. Hasilnya menunjukkan bahwa nilai mean squared error keduanya 0,7789 dan 0,7365 dengan waktu komputasi sekitar 0,809 detik dan 0,836 detik. Maka kedua pendekatan ini cukup menjanjikan untuk diterapkan pada perangkat keras yang murah untuk aplikasi mobile robot.

Kata kunci – mobile robot, penghalusan jalur, interpolasi, linear, cubic

Abstract – Mobile robot technology has become our daily need. The pace of development has yielded various useful robots that can do specific tasks like cleaning services, transporting stuff in a warehouse, and automation. These robots usually have self-navigation ability that comes from a pre-training map in the form of trajectories. The problem is most of the methods do not consider the path smoothing at a turning point. This is because it can burden the robot processor. Hence, in this research, we implemented an estimation of the two most popular methods in path smoothing based on interpolation which are linear and cubic interpolations. The result shows that the mean squared error between the estimated and original formula of interpolation is around 0.7789 and 0.7365 with execution times around 0.809 seconds and 0.836 seconds, respectively. Hence, both estimation methods can be very promising to be implemented in real-world mobile robots application.

Keywords – mobile robot, path smoothing, interpolation, linear, cubic

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References

[1] N. Correll et al., “Analysis and observations from the first amazon picking challenge,” IEEE Transactions on Automation Science and Engineering, vol. 15, no. 1, pp. 172–188, 2016.

[2] A. A. Ravankar, Y. Hoshino, A. Ravankar, L. Jixin, T. Emaru, and Y. Kobayashi, “Algorithms and a framework for indoor robot mapping in a noisy environment using clustering in spatial and hough domains,” Int J Adv Robot Syst, vol. 12, no. 3, p. 27, 2015.

[3] A. Ravankar, A. A. Ravankar, Y. Kobayashi, Y. Hoshino, and C.-C. Peng, “Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges,” Sensors, vol. 18, no. 9, p. 3170, 2018.

[4] E. Waring, “Vii. problems concerning interpolations,” Philos Trans R Soc Lond, no. 69, pp. 59–67, 1779.



DOI: https://doi.org/10.22146/juliet.v3i2.71227

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