PERENCANAAN RUTE GERAK ROBOT SEPAK BOLA BERODA UNTUK MENGHINDARI LAWAN DENGAN ALGORITMA D* LITE

In the soccer robot competition, each contingent has a different strategy and wants to be the winner, the fastest, the most goals scored against the opponent. However, the problem in the field of robots cannot move freely because there are robots (opponent robots) when competing often collisions occur, so that the time the robot travels to the opponent's goal is getting bigger. In this thesis the author conducted research on the topic of planning the robot motion route. Wheeled football uses the D * Lite algorithm to avoid opponents. The motion route planning is designed to apply the D * Lite algorithm to the robot testing simulator for static obstacle movements. There are several conclusions from the research results as follows: 1) The use of the D * Lite algorithm shows the path efficiency but depends on the resolution and the number of obstacles; 2) The results of testing the system response to the algorithm with the same start and end points (-90,0) and (100,0) without the 1.29 second obstacle; 1 obstacle 2.41 seconds; 2 obstacle 3.36 seconds; with 3 obstacle 25.94 seconds. From these data, it can be taken the calculated results of the average time taken from the target point to the end point 8.18 seconds; From the results of testing the D * Lite Algorithm on the simulator with a resolution (900x 600) pixels with a starting point (-90.0) and an end point (100.0), the path efficiency is obtained: Ꞃ1 = 0.0497 travel point time of 1.29 ms without obstacle, path efficiency: Ꞃ2 = 0.0825 travel point time of 2.14 ms, with 1 obstacle; line efficiency: Ꞃ3 = 0.129 travel point time of 3.36 m.s, with 2 obsatcle; path efficiency: Ꞃ4 = 1 travel point time of 25.94 m.s, with 3 obstacles. From the overall test results, the wheeled football route planning using the D * Lite algorithm can function properly according to the desired design