Analisis Perbandingan Algoritma Perencanaan Jalur Robot Bergerak Pada Lingkungan Dinamis

Suhendra, Tonny; Priyambodo, Tri Kuntoro

doi:10.22146/ijccs.15743

Open access Jurnal SINTA 2

Analisis Perbandingan Algoritma Perencanaan Jalur Robot Bergerak Pada Lingkungan Dinamis

IJCCS (Indonesian Journal of Computing and Cybernetics Systems) · Vol. 11 No. 1 (2017) · pp. 21–30

DOI: 10.22146/ijccs.15743
ISSN: 2460-7258, 1978-1520
Published: 2017-01-31
Publisher: IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.
Language: eng
License: creativecommons.org/licenses/by-sa/4.0

Abstract

Development of technology and complexity of an environment (dynamic environtment), the use of algorithms in path planning becomes an important thing to do, problem to be solved by the path planning is safe patch (collision-free), second is the distance traveled, ie, the path length is generated from the robot start position to the current target position and the thirdtravel time, ie, the timerequired by the robot to reached its destination.this research uses ACO algorithm and A-star Algorithm to determine the influence of obstacles (simple environment) and also differences in the pattern of the target motion (linier and sinusoidal)on the ability of the algorithm in pathplanning for finding the shortest path. The test results show that for a simple environtment where the state of target and obstacles still static,the resukt that A-star algorithm is betterthan ACO algorithm both in terms of travel time and travel distance. Testing with no obstacles, seen from the distance travelled differences obtained of 0,57%, whereas for testing with obstacles difference of 9%. Testing in a complex environtment where the targets and obstacles which movesdinamically with a certain pattern, from the three environmental conditions that has been tested, ACO algorithm is better than A-star algorithm where the ACO algorithm can find a path with optimal distance or the sortest distance.

Keywords

Collaboration network of the authors

10 authors · 13 co-authorship links · 4 across different organisations

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Universitas Gadjah Mada
Universitas Maritim Raja Ali Haji
Hope Africa University
Universitas Pattimura
University of Rwanda
Affiliation unknown

Different organisations
Same organisation
Affiliation unknown
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Co-author	Organisation	Joint articles
Mugenzi Thierry	Hope Africa University	1
Cornelis Frederik Junifer Latupapua	Universitas Pattimura	1
Venant Uzayisenga	University of Rwanda	1
Nur Rokhman	Universitas Gadjah Mada	1
Zaied Shouran	Universitas Gadjah Mada	1
Azhari SN	Universitas Gadjah Mada	1
Muhammad Fadhlil Hadi	Universitas Gadjah Mada	1
De-Ron Liang	Affiliation unknown	1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journal.ugm.ac.id/ijccs/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.

Original metadata (oai_dc)

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	<dc:title xml:lang="id-ID">Analisis Perbandingan Algoritma Perencanaan Jalur Robot Bergerak Pada Lingkungan Dinamis</dc:title>
	<dc:creator>Suhendra, Tonny</dc:creator>
	<dc:creator>Priyambodo, Tri Kuntoro</dc:creator>
	<dc:subject xml:lang="id-ID"></dc:subject>
	<dc:subject xml:lang="id-ID">path planning, mobile robot, ACO algorithm, A-star Algorithm</dc:subject>
	<dc:description xml:lang="id-ID">Development of technology and complexity of an environment (dynamic environtment), the use of algorithms in path planning becomes an important thing to do, problem to be solved by the path planning is safe patch (collision-free), second is the distance traveled, ie, the path length is generated from the robot start position to the current target position and the thirdtravel time, ie, the timerequired by the robot to reached its destination.this research uses ACO algorithm and A-star Algorithm to determine the influence of obstacles (simple environment) and also differences in the pattern of the target motion (linier and sinusoidal)on the ability of the algorithm in pathplanning for finding the shortest path. The test results show that for a simple environtment where the state of target and obstacles still static,the resukt that A-star algorithm is betterthan ACO algorithm both in terms of travel time and travel distance. Testing with no obstacles, seen from the distance travelled differences obtained of 0,57%, whereas for testing with obstacles difference of 9%. Testing in a complex environtment where the targets and obstacles which movesdinamically with a certain pattern, from the three environmental conditions that has been tested, ACO algorithm is better than A-star algorithm where the ACO algorithm can find a path with optimal distance or the sortest distance.</dc:description>
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	<dc:source xml:lang="en-US">IJCCS (Indonesian Journal of Computing and Cybernetics Systems); Vol 11, No 1 (2017): January; 21-30</dc:source>
	<dc:source>2460-7258</dc:source>
	<dc:source>1978-1520</dc:source>
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	<dc:relation>https://journal.ugm.ac.id/ijccs/article/view/15743/11719</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2017 IJCCS - Indonesian Journal of Computing and Cybernetics Systems</dc:rights>
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