• Tidak ada hasil yang ditemukan

Robot Pencari Lintasan Terpendek Dengan Menggunakan Algoritma A Star.

N/A
N/A
Protected

Academic year: 2017

Membagikan "Robot Pencari Lintasan Terpendek Dengan Menggunakan Algoritma A Star."

Copied!
24
0
0

Teks penuh

(1)

!"

#

!"

$

%

(2)

'

'

(

(

)

(

)

*

(

(

+

&

,

(

(

(

%

%

(

+

(

-

!"

(

# !" (

$

(

%

&

(

%

'

%

%

(

(3)

.

/

$ 0111

111

.

/

$ 111

1 1

. 0

,234 3

$1111111111

.

&

$ + +111111111111111

11

%

.

&

$ 4 #/ $

%

.

&

$

/25

)

/ / "

,23

656 3

"

" "

5

/

"

" 7

+

(

#

7

" 8

7

" 9

,

#

7

" !

,

7

/ / 7

2*$+ ,2363: 34111

9

7 "

$ 2$;*

9

7 7

#

111111111111111111

<

7 7 "

#

!" 111111111111

<

7 7 7

,

#

,

#

1111

"=

7 7 7 "

,

#

1 111111111

""

7 7 7 7

#

1 11111111111

"7

7 7 8

1111111 111111

"!

7 7 9

,

#

11111111111

">

7 7 !

,

!"111111111

"

7 7 <

#

,

111111

7=

7 8

0

/

1 111111111111111

7"

7 8 "

0

/

11111111111

77

7 8 7

?11111

11111111111

77

(4)

7 9 "

11 111111111111

7!

7 9 7

111 11111111111111

7!

7 9 8

#

#

2

111111

7<

7 9 !

11 11 111111111111

7

7 9 <

!!

111 111111111111

8=

7 9 >

#

"

" #

111111111111

8"

7 9

&

"

" #

111

1111111111

8"

7 9

/

"

" #

1111111111

87

7 9 "=

/

"

" #

11111111

88

/ / 8

,2$ 3 34 3

3 $2 5+

+

<9

8 "

#

89

8 " "

#

#

,

5

8!

8 " 7

111111111111111111

8<

8 " 7 "

,

11111111111

8<

8 " 7 7

;

/

111111

8>

8 " 7 8

,

5

1111111 11

8

8 " 7 9

&

111111

8

8 " 8

2

-

9"

8 " 8 "

#

#

1111111111

9"

8 " 9

3

98

8 " !

*

5

9!

8 " <

9>

8 " >

+

9

8 "

,

:

9

8 7

4

!"

8 "

,

!7

8 7

,

!7

(5)

%

8 9

(

#

!7

8 !

/

$

11111111111

!8

8 <

$

/

!9

8 < "

$

#&

$ "

11111111111

!9

8 < 7

$

,

,

!"11111111111 1111111

!!

8 < 8

$

%

## !

11111111111

!<

8 >

$

,

0

!>

/ / 9

,234 #

3

3

3 5+

111111

!

9 "

,

$

,

11111111

!

9 7

,

$

#&

$ "

!

9 8

,

%

1

<=

9 9

,

6 0

<"

9 9 "

0

"11111111 11111111111

<"

9 9 7

0

711111111 11111111111

<9

/ / !

02 +#,65 3

3

$ 3

<<

! "

0

<<

! 7

<<

&

$ ,6

0

111111111111111111111

5 #,+$ 3

5

,

11111111111111111

."

5 #,+$ 3 /

&

4

$

11111111111111

/."

(6)

4

8 9

&

11111111

8

4

8 !

,

@

8

4

8 <

,

5

8

4

8 >

9=

4

8

3

-111111111

8

4

8

2

-11111111

97

4

8 "=

3

11111111

99

4

8 ""

3

1

9!

4

7 "

$

% 11111111111111 111

9

4

7 7

,

,

% 111111

!

4

7 8

/

!" 1

1

4

7 9

0

(

,

!"

4

7 !

#

!"1

""

4

7 <

,

#

!" 11

"7

4

7 >

#

+

111

"8

4

7

5

"7

$ #

"8

4

7

6

"7

$ #

"9

4

7 "=

$

"

"!

4

7 ""

1111

"<

4

7 "7

/ ,

$

*3111

"

4

7 "8

&

11111

7!

4

7 "9

'

7<

4

7 "!

2

.

&

7>

4

7 "<

( "

# #

)

111111111

7

4

7 ">

#

!

11111111111

7

(7)

%

4

8 "7

*

/

5

11111111111

9<

4

8 "8

11111111

9

4

8 "9

+

111111111111

9

4

8 "!

,

:

1111111

!=

4

8 "<

,

5

#

4

111111

!"

4

8 ">

/

$

111111111

!8

4

8 "

&

,

!"11111111111

!9

4

8 "

$

#&

"

!

!!

4

8 7=

$

,

11111111111111

!<

4

8 7"

$

%

##

!>

4

9 "

,

#&

(

!

!

4

9 7

*

#

>= 21

<=

4

9 8

,

111111111

<"

4

9 9

&

5

111111111111111

<7

4

9 !

5

"

1111111111111111

<7

4

9 <

5

7

1111111111111111

<8

4

9 >

5

8

111111111

<8

4

9

0

71111111111111111

<9

4

9

"

11111111111

<9

4

9 "=

5

7

8

11111111111

<!

(8)
(9)

!" #$%& ' (

) *+, !" #-%&. ' / 0 .( ( (1 2 3 2 1 12 1 2 4 ( 4

) *+- 5*6 #,%)

*+-5*6 #$%) *+,

#

7 !" #$%& 7. ' 7.(

) *+, !" #-%& . ' 7. / . 0 7..( ( (1 28 2 2

) *+- 5*6 #,%)

*+-5*6 #$%) *+,

#

!" #$%& ' (

) *+, !" #-%&.7 ' / 7 0 , 9( ( (1 2 3 2 1 12 1 2 4 ( 4

) *+- 5*6 #,%)

*+-5*6 #$%) *+,

# :

;* % -* %&.<=

5* % &. =% >)? * )

>)? * ) 5* % &.-=% >)? * ) > : =

>)? * ) 5* % &.,=% >)? * ;+ ? * *

>)? * ;+ 5* % &.$=% >)? * ?;#;

>)? * 5 :

> @7 ' @7 2 2 11 2 3 1

' 2 A , 9( 2 3 1 2 ( 2 4 ( 4

> @9 ' @9 2 2 11 2 3 1

' 2 A .( 2 3 1 2 ( 2 4 ( 4

# @9 'B 2 1 2 2 2 A (4( 2 4 2 (

# @7

7 ' 2 A 7..( 28 2 2 2 3

#

?;#; > @7

> @9

# @9

# @7

(10)

? * * > @7

> @9

# @9

# @7

7 #

> : = > @7

> @9

# @9

# @7

7 #

B

B

( (1

21 21( @

(

8

2 2

%

2

2 (

@

8 B CD8( B 22 D% (2E'

A ( 0 2 ( CE'

0 .' ( 0 '

B 32 @ 3 2 0 '

B 32 0 '

F 0 2 ACE'

8 0 2 ACE'

0 2 ACE'

0 2 ACE'

0 2 ACE'

1 0 .'

8 2 ( 0 2 ACE'

( ( 0 2 ACE'

2G 0 2 ACE'

0 '

2 0 2 ACE'

B 2 2 0 2 ACE'

B1 B1 0 '

G 0 -' CE'

B

B

( (1 2

3 (

A

2

2 B

@

C 2 2 2E H

8 C 00 .E H

(11)

(1@ 3 2 0 '

@ 3 2 0 '

A ( @ B ( CD DE'

A ( @ C.% E'

0 '

0 2 ACE'

I J 0 '

1 0 2 ACE'

1 I J 0 '

0 2 ACE'

I1J 0 ' K

K 2 2 8 C 00 E H

8 C ( 00 E H

(1@ 3 2 0 '

8 @ 3 2 0 '

A ( @ B ( CD8 DE'

A ( @ C.% E'

0 -'

8 0 2 ACE'

8 I J 0 '

8 1 0 2 ACE'

8 1 I J 0 '

8 0 2 ACE'

8 I1J 0 ' K

K

8 C ( 00 E H

(1@ 3 2 0 ' FI1J 0 ..'

A ( @ B ( CD DE'

A ( @ C.% E'

K K

B

B

( (1

L; 2

M

C 2 E H

8 C1 00 . 00 -E H

8 C 0.' N0 97' OOE H

8 C8 1 I J 00 E H

8 C10.' 1N0 97' 1OOE H

8 C8 I1J 00 E H

8 C40P $' 4N0 ' 4OOE H

I4J 0 ...QC @ C PC4O $EEO @ C.P1EE'

K

8 C40.' 4N0 ,' 4OOE H

I4J 0 .QC @ C4EO @ C P1EE'

K

8 C40 $' 4N0-7' 4OOE H

I4J 0 .QC @ C PC4P $EEO @ C-P1EE'

K

(12)

I4J 0 .QC @ C PC4P- EEO @ C,P1EE' K

8 C40$-' 4N0 ' 4OOE H

I4J 0 .QC @ C PC4P$-EEO @ C$P1EE'

K

8 C40 9' 4N09 ' 4OOE H

I4J 0 .QC @ C PC4P 9EEO @ C P1EE'

K

8 C407.' 4N0 ,' 4OOE H

I4J 0 .QC @ C PC4P7.EEO @ C9P1EE'

K

8 C40 $' 4N0 7' 4OOE H

I4J 0 .QC @ C PC4P $EEO @ C7P1EE'

K

8 C40 ' 4N0 ' 4OOE H

I4J 0 .QC @ C PC4P EEO @ C P1EE'

K

8 C40 -' 4N0 - ' 4OOE H

I4J 0 .QC @ C PC4P -EEO @ C P1EE'

K

8 C40 -9' 4N0 , ' 4OOE H

I4J 0 .QC @ C PC4P -9EEO @ C .P1EE'

K

8 C40 $.' 4N0 ,' 4OOE H

I4J 0 .QC @ C PC4P $.EEO @ C P1EE'

K

8 C40 $' 4N0 97' 4OOE H

I4J 0 .QC @ C PC4P $EEO @ C -P1EE'

K K

K K

K

8 C 0 ,' N0 97' 0 O $E H

I J 0 I JO ....' K

8 C 0.' N0 $' 0 O $E H

I J 0 I JO ....' K

8 C 0 9 ' N0 ' OOE H

I J 0 I JO ....' K

8 C 0.' N0 97' OOE H

I J 0 I JOCFI JQ .E' K

8 C 0.' N0 97' OOE H

8 C8 I J 00 E H

8 0 '

K K

1 0 '

( 0 .' K

(13)

, 0 I,J' $ 0 I$J' 0 I J' 9 0 I9J' 7 0 I7J' 0 I J'

RRRRRR@@

9 0 I 9 J' 99 0 I 99J' 97 0 I 97J' K

C 2 2 2E H

8 C 2 S0 8 E H

8 C40.' 4N0 97' 4OOE H 8 C I4J 00 E H

( 0 4'

2 I ( J 0 '

B 2 2 I ( J 0 '

B 2 0 CB 2 EOD DO C ( E'

B 2B ( 0 B 2B ( O '

B 2 0 B 2 @ CD DE'

8 C I4P JN ... 2 I4P J S0 E H

2 0 C 2 EOD DO C4P E'

2 B ( 0 2 B ( O '

I4P J 0 I4JO $'

2 I4P J 0 '

K

8 C I4P $JN ... 2 I4P $J S0 E H

2 0 C 2 EOD DO C4P $E'

2 B ( 0 2 B ( O '

I4P $J 0 I4JO .'

2 I4P $J 0 '

K

8 C I4P ,JN ... 2 I4P ,J S0 E H

2 0 C 2 EOD DO C4P ,E'

2 B ( 0 2 B ( O '

I4P ,J 0 I4JO $'

2 I4P ,J 0 '

K

8 C I4P JN ... 2 I4P J S0 E H

2 0 C 2 EOD DO C4P E'

2 B ( 0 2 B ( O '

I4P J 0 I4JO .'

2 I4P J 0 '

K

8 C I4O JN ... 2 I4O J S0 E H

2 0 C 2 EOD DO C4O E'

2 B ( 0 2 B ( O '

I4O J 0 I4JO .'

2 I4O J 0 '

K

8 C I4O ,JN ... 2 I4O ,J S0 E H

2 0 C 2 EOD DO C4O ,E'

(14)

I4O ,J 0 I4JO $'

2 I4O ,J 0 '

K

8 C I4O $JN ... 2 I4O $J S0 E H

2 0 C 2 EOD DO C4O $E'

2 B ( 0 2 B ( O '

I4O $J 0 I4JO .'

2 I4O $J 0 '

K

8 C I4O JN ... 2 I4O J S0 E H

2 0 C 2 EOD DO C4O E'

2 B ( 0 2 B ( O '

I4O J 0 I4JO $'

2 I4O J 0 '

K K

I4J 0 .' K

2 0 2 @ CD DE'

2 2 2 C 2 ( E'

2 2 2 C 2 (B ( E'

0 '

2 C N0 2 B ( E H

8 C 0 ' N0B 2B ( ' OOE H

2 0 2 I J'

B 2 0 B 2I J'

8 C 2 I J S0 B 2I JE H

0 Q '

K 2 2 H

0 Q.'

K K

8 C 00 E H

2 ( 0 C 2 ( EOD DO C 2 I JE'

2 (B ( 0 2 (B ( O '

K 0 O '

0 ' K

2 ( 0 2 ( @ CD DE'

8 C10.' 1N0 97' 1OOE H 8I1J 0 I1JO I1J' K

8 CB0 ' BN0 2 (B ( ' BOOE H

8 2 (IBJ 0 8I 2 (IBJJ'

( ( IBJ 0 8 2 (IBJ'

K

TT 0 '

2 C N0C 2 (B ( P EE H

8 C 0 O ' N0 2 (B ( ' OOE H

8 C8 2 (I JN8 2 (I JE H

(15)

8 C(0 ' (N0 2 (B ( ' (OOE H

8 2 (I(J 0 ( ( I(J'

K K

K 0 O ' K

2 12B 0 ( ( I J'

8 C 0 2 (B ( ' U0 ' PPE H

8 C8I 2 (I JJ 00 2 12B E H 2G 0 '

K K

2 0 2 (I 2GJ'

8 0 I8 J'

. 0 I.J' 0 I J' - 0 I-J' , 0 I,J' $ 0 I$J' 0 I J' 9 0 I9J' 7 0 I7J' 0 I J' 0 I J' . 0 I .J'

0 I J'

- 0 I -J' , 0 I ,J' $ 0 I $J'

0 I J'

9 0 I 9J' 7 0 I 7J'

0 I J'

0 I J'

- 0 I- J' -- 0 I--J' -, 0 I-,J' -$ 0 I-$J' - 0 I- J' RRRRRR

9 0 I 9 J' 99 0 I 99J' 97 0 I 97J'

(16)

8 . 0 8I .J'

8 0 8I J'

8 - 0 8I -J' 8 , 0 8I ,J' 8 $ 0 8I $J'

8 0 8I J'

8 9 0 8I 9J' 8 7 0 8I 7J'

8 0 8I J'

8 0 8I J'

8-. 0 8I-.J' 8- 0 8I- J' 8-- 0 8I--J' 8-, 0 8I-,J' 8-$ 0 8I-$J' 8- 0 8I- J' 8-9 0 8I-9J' 8-7 0 8I-7J' 8- 0 8I- J' 8- 0 8I- J' 8,. 0 8I,.J' 8, 0 8I, J' 8,- 0 8I,-J' 8,, 0 8I,,J' 8,$ 0 8I,$J' 8, 0 8I, J' 8,9 0 8I,9J' 8,7 0 8I,7J' 8, 0 8I, J' 8, 0 8I, J' 8$. 0 8I$.J' 8$ 0 8I$ J' 8$- 0 8I$-J' 8$, 0 8I$,J' 8$$ 0 8I$$J' 8$ 0 8I$ J' 8$9 0 8I$9J' 8$7 0 8I$7J' 8$ 0 8I$ J' 8$ 0 8I$ J' 8 . 0 8I .J'

8 0 8I J'

8 - 0 8I -J'

RRRRRRR@@

8 9 0 8I 9 J' 8 99 0 8I 99J' 8 97 0 8I 97J'

A 0 2 '

2 0 A' 8 2 0 8I 2 J'

8 C 2 00 8 E H

(17)

A ( @ C.% E' K

8 CA 00 E H

B 2 @ 3 2 0 '

I J 0 ' K

8 CA 00 -E H

B 2-@ 3 2 0 '

I-J 0 ' K

8 CA 00 ,E H

B 2,@ 3 2 0 '

I,J 0 ' K

8 CA 00 $E H

B 2$@ 3 2 0 '

I$J 0 ' K

8 CA 00 E H

B 2 @ 3 2 0 '

I J 0 ' K

8 CA 00 9E H

B 29@ 3 2 0 '

I9J 0 ' K

8 CA 00 7E H

B 27@ 3 2 0 '

I7J 0 ' K

8 CA 00 E H

B 2 @ 3 2 0 '

I J 0 ' K

8 CA 00 E H

B 2 @ 3 2 0 '

I J 0 ' K

8 CA 00 .E H

B 2 .@ 3 2 0 '

I .J 0 ' K

8 CA 00 E H

B 2 @ 3 2 0 '

I J 0 ' K

8 CA 00 -E H

B 2 -@ 3 2 0 '

I -J 0 ' K

RRRRRRRRRRRRRR@@

8 CA 00 9 E H

B 2 9 @ 3 2 0 '

(18)

K

8 CA 00 99E H

B 2 99@ 3 2 0 '

I 99J 0 ' K

A ( @ B ( CD DE'

A ( @ C.% E'

K K

B

B

( (1

L<

M

C 2 E H

2 CG S0 B1 B1 2 00 8 1 00 E H

A ( @ B ( CD DE'

A ( @ C.% E'

8 CV0.' VN0 97' VOOE H 8 C8 IVJ 00 E H

G 0 V' K

K

8 C 0.' N0-' OOE H

8 C 0CG O P E' N0CG O O E' 0 O $E H

8 C I J 00 C IG JP $E I J 00 C IG JP .EE H

8 CB 2 2 I J 00 E H

B1 B1 0 '

8 IG J 0 .' K

K K

K

8 C B1 B1NG E H

8 CV0 97' VU0.' VPPE H 8 C8 IVJ 00 E H

G 0 V' K

K

8 C 0.' N0-' OOE H

8 C 0CG O P E' N0CG O O E' 0 O $E H

8 C I J 00 C IG JP $E I J 00 C IG JP .EE H

8 CB 2 2 I J 00 E H

B1 B1 0 '

8 IG J 0 .'

K K

K K

K

1 0 B1 B1'

8 C1 00 E H

( @ 3 2 0 '

( @ 0 .'

8 I J 0 '

K

8 C1 00 -E H

(19)

(-@ 0 .'

8 I-J 0 '

K

RRRRRRRRRRRRRR@

8 C1 00 9 E H

( 9 @ 3 2 0 '

( 9 @ 0 .'

8 I 9 J 0 '

K

8 C1 00 99E H

( 99@ 3 2 0 '

( 99@ 0 .'

8 I 99J 0 '

K

( 0 .'

(20)

! "#$%

&' (%

)*#% +,)% ,-)%

! ./$%

!010$

'

%

(21)

4

&

!

"#

5

46 4 ! 4

4

$

47

6 47

4

(

$ %

"

"#

(

*

,

8

%

%

%

**

'

,

9

%

52

05/.% :';<23 %

%

,

,

% ,

%

*** ,

5

(22)

/

(23)

!

"

#

$

$$%

"

&

!

"

'

(24)

!

" #

$

%

&

&#$#

$ '

#$ "

$

$

#$ (

)

!

"

!

###

$

%

& '

$'$*$

$

* +

% $% "

$% #$ , -)

(

) %

!

$

*

+

,

-

.

/

$ "$

' 0

$

#)

.

- /.

-

%

- - %

*

&&&

%

- %

0

.1223

*

$

*2

- 456- -

1

%7 8$ & " 1&&& % - 9 - -- .

2+)

8"

2 $:02 3

. ;<%- <

<- - = 6

=- 6-

=- 6

=-6 .

3

&&&

:

.122.

-

>

- %2.

- ?. ;

2

::3 @

%

#

.122&&&

- %2

A. ;2. ;233 : 2 )

+2

::3

%

.122&&&

2

- . .4 6$ =56

::3

.122&&&

A ; &

- %2 %

%

.122&&&

- %2

2- .2 #30

%

Referensi

Dokumen terkait

Pada bab ini berisi penjelasan hasil dari pengujian algoritma A* (A Star) yang telah dilakukan dalam menyelesaikan permasalahan dalam penentuan jarak terpendek untuk

Berdasarkan bentuk labirin tersebut, hanya ada satu jalan keluar dari start menuju finish sehingga robot harus menemukan jalan keluar tersebut dengan cara melakukan

Gambar 4.10 Pengujian program ke-2 setelah simpul tujuan ditentukan 42 Gambar 4.11 Pencarian solusi dengan perhitungan manual pengujian program ke-2

Algoritma Djikstra dengan menggunakan prinsip Greedy mencari lintasan terpendek dari satu simpul ke semua simpul lain yang terhubung.. Sedangkan program dinamis yaitu

OPEN adalah senarai ( list ) yang digunakan untuk menyimpan simpul-simpul yang pernah dibangkitkan dan nilai heuristiknya telah dihitung tetapi belum terpilih

Dari ke 5 penelitian diatas memiliki perbedaan dengan penelitian yang akan diambil oleh penulis, penulis akan membuat animasi berupa 3D berupa mobil sebagai objek bergerak atau

Sensor garis Sedangkan sensor PIR yang merupakan sensor yang peka terhadap suhu berfungsi untuk mendeteksi manusia atau benda lainnya yang berada di sekitar robot

Hasil dari uji coba yang telah dilakukan, didapat bahwa algoritma A-Star dapat digunakan dalam rancang bangun robot pemindah barang untuk mencari rute jalur