Pemodelan dan Simulasi Path Planning Robot Mobil Menggunakan Metode Ant System Pada Lingkungan Terstruktur

Path planning merupakan permasalahan fundamental dalam navigasi robot mobil yang menuntut kemampuan perencanaan jalur optimal serta penghindaran rintangan secara efisien. Penelitian ini mengimplementasikan metode Ant System untuk menyelesaikan permasalahan path planning robot mobil melalui pendekatan pemodelan dan simulasi pada environment terstruktur. Proses perencanaan jalur dilakukan dengan memanfaatkan mekanisme pheromone dan heuristic untuk menentukan lintasan optimal dari initial state menuju goal state. Pengujian dilakukan sebanyak 10 kali simulasi dengan variasi jumlah koordinat antara, iterasi, dan jumlah semut. Hasil penelitian menunjukkan bahwa metode Ant System mampu menghasilkan jalur robot tanpa tabrakan dengan jarak lintasan berada pada rentang 31,4915 hingga 32,6788 satuan jarak. Analisis hasil menunjukkan bahwa kesesuaian antara jumlah koordinat antara, iterasi, dan semut berpengaruh signifikan terhadap kualitas lintasan, di mana kombinasi parameter yang seimbang menghasilkan jalur yang lebih smooth dan stabil. Secara keseluruhan, metode yang diusulkan mencapai tingkat keberhasilan sebesar 100% dalam menyelesaikan permasalahan path planning robot mobil pada environment yang digunakan.

• Publication year

  2026

• Venue

  JSAI (Journal Scientific and Applied Informatics)

• Publication date

  2026-01-20

• Fields of study

  Not labeled

• Identifiers
  DOI 10.36085/jsai.v9i1.9862
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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