Persiapan bimbingan
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@ -292,6 +292,12 @@ Dengan itu dapat digabungkan menjadi persamaan \textit{state-space} menggunakan
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\label{eq:ss-formasi}
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\end{align}
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\begin{figure}
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\centering
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\includegraphics[scale=.35]{BAB2/img/plotMotion3Robot.png}
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\caption{Plot motion 3 robot dengan nilai kp=80 dan ki=1}
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\end{figure}
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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\section{Solusi Persamaan Differensial Secara Numerik}
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@ -17,31 +17,33 @@ bidan kendali multi-robot, khususnya dalam kendali formasi.
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\section{Definisi Permasalahan Kendali Formasi}
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Kendali formasi adalah kendali multi-agent untuk mencapai suatu formasi yang diinginkan.
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Banyak metode yang telah digunakan berdasarkan berbagai macam kategori.
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% Banyak metode yang telah digunakan berdasarkan berbagai macam kategori.
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Dapat diperhatikan dalam gambar~\ref{fig:kerangka_pen}, dari berbagai metode teresebut
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dapat disimpulkan dalam 3 kategori secara general.
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dapat disimpulkan secara umum dalam 3 kategori.
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Yaitu berbasis posisi, pergerakan, dan jarak.
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Pembagian kategori tersebut berdasarkan kemampuan sensor yang digunakan dan
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Pembagian tersebut berdasarkan kemampuan sensor yang digunakan dan
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penggunaan komunikasi dalam metodenya.
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Dari ketiga kategori tersebut, kendali formati berbasis jarak sangat dibutuhkan pembahasan
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mengenai penerapan metode tersebut pada agent yang nyata.
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\textit{Simple model, Model real,} dan \textit{Real} dapat dikatakan sebuah tahap pengemabangan.
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\kutip{OH2015424} menyatakan bahwa mayoritas dari hasil penelitian yang menggunakan pendekatan ini (\textit{distance-based}) berfokus pada model agent dengan integrator-tunggal di suatu bidang datar.
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Gagasan agent \textit{simple model} tersebut memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan pada metode kendali multi-agent berdasarkan jarak.
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Dengan bertambahnya kepraktisan pada metode tersebut diharapkan dapat diterapkan dalam agent secara \textit{Real}.
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Gagasan agent \textit{simple model} memiliki manfaat ketika menginvestigasi karakteristik kendali secara mendasar, model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan metode kendali multi-agent berdasarkan jarak.
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Dengan bertambahnya kepraktisan diharapkan dapat diterapkan dalam agent secara \textit{Real}.
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Pada penelitian oleh \kutip{Rozenheck2015}, kendali formasi berdasarkan jarak dikendalikan
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menggunakan kendali PI dan menghasilkan pergerakan yang baik.
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Dapat diperhatikan pada persamaan~\eqref{eq:modelorde2} bahwa peneliti menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya.
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Maka, penelitian ini akan difokuskan pada kendali formasi berbasis jarak
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kendali PI yang telah dilakukan sebelumnya dengan menggunakan model nyata.
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\section{Permasalah dan Solusi}
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Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, state yang digunakan membutuhkan koordinat relatif dari tetangganya.
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Akan tetapi pada batasan penelitian ini, sensor yang digunakan hanya memberikan jarak terhadap tetangganya.
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Sedangkan koordinat relatif tersebut berupa kartesian.
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Koordinat kartesian dapat diubah ke bentuk koordinat polar, atau sebaliknya.
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Akan tetapi koordinat polar membutuhkan sudut antara agent dan tetangganya.
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Oleh karena itu dibutuhkan algoritma khusus untuk menutup permasalahan tersebut.
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Sedangkan koordinat relatif yang digunakan adalah kartesian.
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Apabila yang diketahui adalah jarak maka koordinat yang bisa digunakanadalah polar.
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Sedangkan koordinat polar membutuhkan sudut antara agent dan tetangganya.
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Oleh karena itu dibutuhkan algoritma khusus untuk mendapatkan sudut tersebut.
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Untuk mengembangkan algoritma tersebut, dapat menggunakan hukum \textit{cosinus} segitiga untuk menentukan sudutnya.
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Dengan memanfaatkan komunikasi antar robot, maka robot dapat mengirimkan informasi state kecepatan kepada tetangganya.
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@ -0,0 +1,92 @@
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x1,y1,x2,y2,x3,y3,dx1,dy1,dx2,dy2,dx3,dy3,xi1,xi2,xi3,xi4,xi5,xi6,xii1,xii2,xii3
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1.5,1.7,2,2.5,2.5,2.8,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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1.660781058591101,1.868426298368491,1.983628841011567,2.482484860808699,2.410257413075477,2.696504532616002,1.27949252103798,1.240940703645519,-0.1207657640295765,-0.07062913180644501,-0.5345525093964825,-0.6568619543827603,0.1607810585911011,0.1684262983684909,-0.01637115898843293,-0.01751513919130067,-0.08974258692452401,-0.1034954673839971,0.01715695680941148,0.1194518091673519,-0.02212979885273052
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1.762259731920101,1.956881131591067,1.973912175750599,2.481742292588593,2.380894817266495,2.656245782919073,0.8427987905435247,0.6324081649631463,-0.08623766058620347,0.03441983498203231,-0.1329271024764415,-0.2345266492578352,0.2622597319201017,0.2568811315910671,-0.02608782424940144,-0.01825770741140739,-0.1191051827335051,-0.143754217080926,0.00604011529526637,0.1726653286098336,-0.05131223202037664
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1.838469547022209,2.004825469535237,1.965124965200509,2.487274516343183,2.375796656925463,2.641199662048948,0.7044046184110547,0.3499834419124177,-0.09268990031461698,0.07099964517732898,0.01114022853175356,-0.08723167196744439,0.3384695470222104,0.3048254695352389,-0.03487503479948977,-0.01272548365681468,-0.1242033430745345,-0.1588003379510486,-0.01595747132007437,0.2000254898422428,-0.08202892073930465
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1.905988580485155,2.029629565278274,1.954996213516033,2.495297146149982,2.380652951516092,2.636251660376205,0.6549263779241334,0.1542692292730244,-0.1109146721547292,0.08736994013827079,0.07806503709484043,-0.01966309888632983,0.4059885804851556,0.3296295652782739,-0.04500378648396757,-0.004702853850018163,-0.1193470484839077,-0.1637483396237943,-0.04283142101392377,0.2139268556153915,-0.1124370552023408
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1.97068215882013,2.036815265885852,1.94285584562608,2.504426085334621,2.390268545684117,2.636159435036693,0.6430358342107024,-0.006289330103531865,-0.1317869543425331,0.0938265877123021,0.1100506314770363,0.01387005298239905,0.4706821588201304,0.3368152658858526,-0.05714415437392009,0.004426085334621487,-0.1097314543158831,-0.1638405649633064,-0.07112516324777181,0.220076851533171,-0.1415616071410862
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2.035137096485135,2.02914239739211,1.928764372151133,2.513776514869423,2.401996211519521,2.638407693215095,0.647577786322888,-0.1433182125721326,-0.1488784628586073,0.09159135356457898,0.1218239274459562,0.02858538546555384,0.5351370964851362,0.3291423973921101,-0.07123562784886736,0.01377651486942294,-0.09800378848047926,-0.1615923067849057,-0.09806119893991178,0.2219244755982353,-0.1687486420128033
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2.100297740647723,2.008993135682375,1.913417604564352,2.522375254625236,2.414195887429325,2.64143721035699,0.6551531615637975,-0.2548488353646655,-0.1557731787255278,0.07817376067957668,0.1203679775078125,0.02998975388519495,0.6002977406477241,0.3089931356823755,-0.0865823954356483,0.02237525462523534,-0.08580411257067561,-0.1585627896430098,-0.1210348193013338,0.2219724740600713,-0.1935474836709309
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2.16590978313495,1.979230459286916,1.898141742570779,2.528926426760611,2.42579577880791,2.644027644667732,0.6549886477729097,-0.3344933859075956,-0.1466423714158387,0.05015267256017759,0.1106273620839004,0.01999896849152959,0.6659097831349521,0.2792304592869159,-0.1018582574292214,0.02892642676061048,-0.07420422119209134,-0.1559723553322673,-0.1375905117929351,0.2222365081394357,-0.2157159749132793
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2.230764721735275,1.943332831322246,1.884737179259308,2.53186356548038,2.436204091583303,2.645095033547921,0.6390637299681544,-0.3771563562951668,-0.1182160344298147,0.006000839638352892,0.09735258844630791,-0.0002188712785826477,0.7307647217352763,0.2433328313222455,-0.1152628207406924,0.03186356548038001,-0.06379590841669823,-0.1549049664520789,-0.1456950298880029,0.224346467924138,-0.235262212975645
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2.293107580412582,1.904994200463116,1.875076332658073,2.529692709513057,2.445303480447907,2.643717889224215,0.6049020156875001,-0.3841757288656923,-0.07262158453537157,-0.05101843116657841,0.08514746461623829,-0.02836367929340222,0.7931075804125853,0.2049942004631176,-0.1249236673419257,0.02969270951305962,-0.05469651955209161,-0.1562821107757832,-0.1441461422604541,0.2294732323462758,-0.2524644180494394
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2.351265084322334,1.867424484309745,1.870543341685298,2.521489472892765,2.453383177891685,2.639286561702831,0.556523826642131,-0.3635543683203485,-0.01721763799764953,-0.1130812411226385,0.0773502839404149,-0.0605414496251688,0.8512650843223356,0.1674244843097451,-0.1294566583147017,0.02148947289276597,-0.04661682210831591,-0.1607134382971687,-0.1328647322887049,0.2382251703558427,-0.2678251878629865
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2.40422062096104,1.832831000295771,1.871634953898417,2.507222959135171,2.460963145303663,2.631632719405903,0.5023898029832853,-0.32641590304605,0.03832384201800614,-0.1708400957707605,0.07517236822721747,-0.09205048766451078,0.9042206209610409,0.1328310002957696,-0.1283650461015843,0.00722295913516853,-0.03903685469633995,-0.1683672805941,-0.1128508122354095,0.2506371841638513,-0.2819572068801361
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2.570072537105451,1.74007045149961,1.917684302526492,2.41097696247053,2.494801329062245,2.57851967953079,0.3525731503864978,-0.1290425587362336,0.1624188862174434,-0.2748960335144426,0.09782175340802286,-0.1518392998907262,1.070072537105454,0.04007045149961037,-0.08231569747350755,-0.08902303752946938,-0.005198670937756182,-0.2214803204692102,0.01881527327786366,0.3250761831219551,-0.3359227825912079
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2.671284406060851,1.72884637776423,1.968393726575278,2.331290082218291,2.526379842042906,2.537194352716788,0.3320695157175707,0.0614042958535926,0.1686605854573577,-0.2471509385175747,0.1097895827521229,-0.1132970497990029,1.171284406060852,0.02884637776422945,-0.0316062734247226,-0.1687099177817088,0.02637984204290236,-0.2628056472832114,0.1301698809015888,0.38418139695187,-0.3788690580194281
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2.704660019855323,1.738552944700538,1.98505245857038,2.307472063231872,2.537359317100769,2.527061451203732,0.3360884838009778,0.1332493764657643,0.1642833014890786,-0.2287976258993013,0.1093851066715289,-0.08864152951274284,1.204660019855325,0.03855294470053872,-0.01494754142961991,-0.1925279367681273,0.03735931710076668,-0.2729385487962666,0.1651135273278578,0.4004359815672134,-0.3935282895807106
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2.738611064059449,1.755559234951561,2.001225094475728,2.285590335269279,2.548173226304274,2.519585389018744,0.3433764955452875,0.2071688936600173,0.1591653102562715,-0.2086796832804046,0.1064532472376769,-0.06044343143855196,1.238611064059451,0.05555923495156104,0.001225094475728316,-0.2144096647307198,0.04817322630427145,-0.2804146109812555,0.1984258735695534,0.4139599362125211,-0.4081789157909763
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2.77340467601566,1.779984179819062,2.016901148840374,2.26575337221622,2.558565013006697,2.515037592657472,0.3527336954901281,0.2812908199912352,0.1545679079680994,-0.1881171211102408,0.1009325625110312,-0.03038477676342065,1.273404676015662,0.07998417981906224,0.01690114884037406,-0.2342466277837795,0.05856501300669399,-0.2849624073425271,0.2300619698237067,0.4243090328808284,-0.4227139128928903
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2.809186617068525,1.811743998165812,2.032192988311447,2.24795063841138,2.568276644342102,2.513516591693353,0.3629328127611396,0.3534183539974736,0.1516641926583976,-0.1681238000603184,0.09287722414285646,-0.0001814577651574616,1.309186617068527,0.1117439981658121,0.03219298831144609,-0.2520493615886195,0.06827664434209882,-0.2864834083066455,0.2601505910057543,0.4311716556711777,-0.4370459536906381
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2.960490089825631,2.001655574155274,2.095584278320254,2.194667996104088,2.595965015732727,2.533932307978861,0.3849138300021875,0.5685452244188511,0.1772265406964591,-0.10170808785589,0.04230359613423543,0.09116701809104853,1.460490089825633,0.3016555741552735,0.09558427832025421,-0.3053320038959103,0.0959650157327232,-0.2660676920211361,0.3729023375296288,0.4230738567206008,-0.4919669256052465
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2.998753155846213,2.059648021261794,2.114174618064601,2.185230570024621,2.599518238739269,2.543637672272083,0.3794580515032402,0.588333425630316,0.195247354229598,-0.08701205220423917,0.02898336022181799,0.1021382781817263,1.498753155846215,0.3596480212617945,0.1141746180646012,-0.3147694299753777,0.09951823873926574,-0.2563623277279145,0.4020341695604514,0.4135089891581437,-0.5054740429991457
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|
||||
3.863091201635092,2.504962015175099,3.061493613222474,2.042077039571037,3.08577184030238,2.627615258016746,0.1910896532038314,0.03397699098708482,0.2869627322806794,0.08171797330630978,0.09690800792896853,0.08637361706882946,2.363091201635096,0.8049620151751004,1.061493613222473,-0.4579229604289598,0.5857718403023793,-0.1723847419832495,1.63405373167103,0.8891394718191125,-1.132447378599717
|
||||
3.882467121060985,2.503084348095468,3.08934492067001,2.049638540196481,3.096004727102036,2.636105655207137,0.1965441295807266,-0.0712742177592135,0.2695654747429099,0.06879421824180874,0.1081324254070599,0.08295230786774055,2.382467121060989,0.8030843480954697,1.089344920670009,-0.4503614598035158,0.5960047271020349,-0.1638943447928591,1.668665058730921,0.9018964860167683,-1.14809099132044
|
||||
3.902398374638643,2.490825225957214,3.115325873725968,2.05571853595876,3.107480842659266,2.644102062480252,0.2019695850505727,-0.1730132047913718,0.2497369113732713,0.05233678982178911,0.1218180671578575,0.07643811736761445,2.402398374638647,0.7908252259572156,1.115325873725968,-0.4442814640412361,0.6074808426592649,-0.155897937519744,1.700861729803956,0.9164570119299981,-1.163591980990494
|
||||
3.922806241926436,2.46872119174339,3.139250756303115,2.060047276337606,3.120464713200231,2.651272129847185,0.2058392389742741,-0.2675620789404313,0.2286336679149487,0.03404798627347165,0.138335086955884,0.06635389617729015,2.422806241926439,0.7687211917433918,1.139250756303116,-0.4399527236623909,0.6204647132002306,-0.1487278701528105,1.730359546177311,0.9330582445707009,-1.178793546751582
|
||||
3.943474677112617,2.437679705470629,3.161046879651825,2.062517426839045,3.135245162871534,2.657243931305006,0.2070025507247548,-0.3511733259857545,0.2073458955106781,0.01540744612870968,0.1577438731654892,0.05242273489851117,2.443474677112621,0.7376797054706308,1.161046879651825,-0.4374825731609508,0.6352451628715332,-0.1427560686949888,1.757049669362539,0.9519620426232335,-1.193584452743808
|
||||
3.964088980018234,2.398972247792485,3.180749974628293,2.063159457978717,3.152101250469233,2.661622418112469,0.2046746775335679,-0.4202922856660727,0.1869463247268527,-0.002343301946450316,0.1797565368701295,0.03448721163074736,2.464088980018238,0.6989722477924872,1.180749974628293,-0.4368405420212793,0.6521012504692316,-0.1383775818875277,1.780997253593225,0.97343082685903,-1.207915509284057
|
||||
3.98428877563285,2.354210438442071,3.198497885568023,2.062104262690988,3.171255596029766,2.664014821819411,0.1987527348263413,-0.4717843722886824,0.1683893260687256,-0.01844952289151985,0.2035215910217364,0.01277683333065334,2.484288775632854,0.6542104384420737,1.198497885568023,-0.4378957373090087,0.6712555960297663,-0.1359851781805851,1.802426541621401,0.9976854044859635,-1.221807270249968
|
||||
4.003736946969026,2.305293360732214,3.214516460510206,2.059535745748209,3.192819557751246,2.664074471869646,0.1897953931755194,-0.5030442576160639,0.1524711722912106,-0.0325941037455514,0.2276840911771504,-0.01199950739305554,2.50373694696903,0.605293360732216,1.214516460510205,-0.4404642542517864,0.6928195577512463,-0.1359255281303501,1.821692089387695,1.024852294484122,-1.235346720415111
|
||||
4.022187184922084,2.254328207989068,3.229097441882701,2.055648478258567,3.216747791448844,2.661556236919863,0.1790353582119577,-0.5125572637583852,0.1396996303370055,-0.04485592116682949,0.2505035636484174,-0.03851561137427211,2.522187184922088,0.5543282079890698,1.229097441882699,-0.4443515217414286,0.716747791448844,-0.1384437630801341,1.839237830307045,1.054912786127268,-1.248672045357258
|
||||
4.039539058759098,2.203516926120701,3.242567180529252,2.05061802251816,3.242814466038717,2.656375359981078,0.1681106856469499,-0.4999537511916018,0.1302535637050621,-0.05550440593594896,0.2701630881122797,-0.06491268149013558,2.539539058759102,0.5035169261207024,1.242567180529251,-0.4493819774818356,0.7428144660387178,-0.1436246400189183,1.855548214714899,1.087666562036605,-1.261947522688867
|
||||
4.055863860497521,2.155033316798471,3.255252544720628,2.044591235387763,3.270621510148392,2.648651691667202,0.1587805805521741,-0.466315101409026,0.123954296087361,-0.06482229984352994,0.2850821346934567,-0.08899220496013499,2.555863860497525,0.455033316798474,1.255252544720627,-0.4554087646122322,0.7706215101483929,-0.1513483083327932,1.871098547377143,1.122720166487966,-1.275333357556363
|
||||
4.071397419871865,2.110895723660532,3.267449978544909,2.037694071463495,3.29963673875994,2.638726152446815,0.1525059000166246,-0.4135438726808173,0.1204031949713466,-0.07291910984852541,0.2941984777052828,-0.1086054400711803,2.571397419871868,0.4108957236605344,1.267449978544908,-0.4623059285365003,0.7996367387599407,-0.1612738475531804,1.886312949384033,1.159503663286492,-1.288957079998415
|
||||
4.086499421676609,2.072875155066856,3.279407641823645,2.03005116446676,3.329252395951031,2.627139535362423,0.150257704032751,-0.3445283424043687,0.1190701136431566,-0.07970498057150149,0.2970712027603178,-0.1219671588576669,2.586499421676612,0.3728751550668586,1.279407641823644,-0.4699488355332359,0.8292523959510311,-0.1728604646375737,1.901537428214053,1.197312104145266,-1.302892506944902
|
||||
4.101594296385295,2.042429166095487,3.291322188097341,2.021805919044992,3.358847486290501,2.614579313760438,0.1523588559838559,-0.2626133169739666,0.1194756032341028,-0.08490955816383974,0.2938568942364958,-0.1279587648626034,2.601594296385298,0.3424291660954878,1.291322188097339,-0.4781940809550049,0.8588474862905007,-0.1854206862395593,1.917032080919443,1.235362328045209,-1.317149938318213
|
||||
4.11710631106508,2.020671767662394,3.30335064729729,2.013134044462466,3.387840801252116,2.601804977159216,0.1584991664568214,-0.1712930989409336,0.1213208252146422,-0.08817514515681295,0.2851645789703989,-0.1262650995084185,2.617106311065081,0.3206717676623949,1.303350647297287,-0.4868659555375323,0.8878408012521152,-0.1981950228407828,1.932982114082289,1.272854608795853,-1.331677969413676
|
||||
4.133401525605214,2.008368838378795,3.315632468468392,2.004247175947982,3.415726920263388,2.589567436791701,0.167848921833276,-0.07402595833858051,0.1245579373740443,-0.08915478567869566,0.2718718116864356,-0.1173601429031501,2.633401525605214,0.3083688383787965,1.31563246846839,-0.4957528240520148,0.9157269202633866,-0.2104325632082968,1.949523348726456,1.309030294079407,-1.346374820600433
|
||||
4.150743599368607,2.005947383400791,3.328315259103847,1.995388363976549,3.442094664719485,2.578536084566435,0.179216337585993,0.02578203259991556,0.1293933925555549,-0.08757558529719993,0.2549639229652754,-0.10237402947579,2.650743599368609,0.3059473834007921,1.328315259103845,-0.5046116360234474,0.9420946647194842,-0.2214639154335633,1.966775359592528,1.343220191057941,-1.361105933730344
|
||||
4.169265524653733,2.013503612797058,3.34157779075354,1.986823969478043,3.466632358913058,2.569242788862552,0.1912084370403243,0.124952604068948,0.1362287397081045,-0.08324219134099195,0.2354323394306954,-0.08288475284094156,2.669265524653735,0.3135036127970594,1.341577790753539,-0.5131760305219547,0.9666323589130569,-0.2307572111374465,1.984874510946584,1.374881810613992,-1.375724678258532
|
||||
4.188956905238912,2.030810473169094,3.355644461651835,1.978836791683299,3.489126088862305,2.562048145731739,0.20234751559301,0.2202875442798587,0.1455688817420957,-0.07600175618990772,0.2142498616750072,-0.06072913040223564,2.688956905238913,0.3308104731690958,1.355644461651833,-0.5211632083166975,0.9891260888623042,-0.2379518542682593,2.003999509257336,1.40362590367774,-1.39009368673493
|
||||
4.209663940165209,2.057317124933638,3.370787779278382,1.971723335617445,3.509457235967408,2.557129074630046,0.2112914003263527,0.3083625655001147,0.1578302112253925,-0.06574043030133023,0.1923422689488478,-0.03768062554410785,2.709663940165209,0.3573171249336403,1.370787779278381,-0.5282766643825514,1.009457235967408,-0.2428709253699521,2.024383333727757,1.429233233439459,-1.404104875344341
|
||||
4.231106045453381,2.092136315717746,3.387313596794037,1.965792480217263,3.527600618857807,2.554491033031606,0.2168975674109248,0.3859550208733707,0.1732180620885398,-0.05233811504505712,0.1706467500532932,-0.01533327384281924,2.731106045453382,0.3921363157177473,1.387313596794036,-0.5342075197827334,1.027600618857807,-0.2455089669683918,2.046307054485994,1.451661727338853,-1.417696460145755
|
||||
4.252906788404806,2.134046446402236,3.405529817944287,1.961362128220061,3.543624854187967,2.553998152981262,0.2183915568628345,0.4496457383434783,0.1915597709443029,-0.03573835445646562,0.1501104272630359,0.005072709654020296,2.752906788404807,0.4340464464022384,1.405529817944286,-0.5386378717799359,1.043624854187966,-0.2460018470187359,2.070073898697054,1.471043740144368,-1.43086481269621
|
||||
4.274640604429979,2.181498364333359,3.425700763039616,1.958746383975691,3.557691273828668,2.555417002732525,0.2155704875000399,0.4962736840850481,0.2121536989928651,-0.01609272504688084,0.1316378194648663,0.02282104285666631,2.774640604429979,0.4814983643333607,1.425700763039616,-0.5412536160243058,1.057691273828668,-0.2445829972674737,2.095965539196463,1.487671582448404,-1.443668775493195
|
||||
4.295893553206928,2.232650543251788,3.447993672282453,1.958227392545702,3.57004666538178,2.558467832457725,0.2089100276482159,0.5232873633527287,0.2337496813418919,0.006069818060728193,0.116003422131741,0.03772024692330385,2.795893553206928,0.5326505432517902,1.447993672282453,-0.5417726074542948,1.07004666538178,-0.2415321675422736,2.124187048892203,1.501970138680726,-1.456224322396915
|
||||
|
139
BAB4/bab4.tex
139
BAB4/bab4.tex
|
|
@ -17,12 +17,6 @@ Metode HIL, banyak digunakan oleh peneliti dalam proses pengembangan dengan pert
|
|||
Seperti yang digunakan oleh~\kutip{Irwanto2018}, mengembangkan kendali UAV menggunakan HIL;
|
||||
dan \kutip{QUESADA2019275}, mengembangkan prangkat pankreas buatan yang digunakan untuk mengendalikan kadar gula pada pengidap diabetes.
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\input{BAB4/img/Diagram_hil_controller.tex}
|
||||
\caption{HIL Kendali Multi-Robot.}
|
||||
\label{fig:hil_graph_1}
|
||||
\end{figure}
|
||||
|
||||
Pada penelitian ini akan digunakan \textit{microcontroller}(MCU) STM32F466 sebagai prangkat kendalinya.
|
||||
MCU tersebut ber-arsitektur ARM Cortex-M4 dengan clock 180MHz, menampung ukuran program sampai 256K didalam memori Flash, serta fitur komunikasi standart MCU dengan lengkap.
|
||||
|
|
@ -39,15 +33,22 @@ Sedangkan komunikasi dengan PC akan mempresentasikan aktuator dan sensor untuk s
|
|||
kendali. PC akan merekam setiap keluaran dari model dan masukan dari setiap prangkat kendali
|
||||
sebagai tampilan pergerakan robotnya.
|
||||
|
||||
\todo{
|
||||
Tambahkan subsection mengenai
|
||||
\begin{itemize}
|
||||
%% \item pengembangan data/akuisisi data ?
|
||||
% \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll)
|
||||
% \item skenario Analisa hasil
|
||||
\item jadwal penelitian
|
||||
\end{itemize}
|
||||
}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\input{BAB4/img/Diagram_hil_controller.tex}
|
||||
\caption{HIL Kendali Multi-Robot.}
|
||||
\label{fig:hil_graph_1}
|
||||
\end{figure}
|
||||
|
||||
% \todo{
|
||||
% Tambahkan subsection mengenai
|
||||
% \begin{itemize}
|
||||
% %% \item pengembangan data/akuisisi data ?
|
||||
% % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll)
|
||||
% % \item skenario Analisa hasil
|
||||
% \item jadwal penelitian
|
||||
% \end{itemize}
|
||||
% }
|
||||
|
||||
\section{Strategi Kendali Multi Robot}
|
||||
|
||||
|
|
@ -56,7 +57,7 @@ Kendali tingkat bawah akan membahas mengenai kendali robot secara individu, seda
|
|||
|
||||
\subsection{Kendali Robot}
|
||||
Pada kendali robot akan dibahas mengenai analisis kendali robot menggunakan
|
||||
state-space feedback. Kendali robot ini adalah kendali tahap akhir dari kendali ke-
|
||||
state-space feedback. Kendali robot ini adalah kendali tingkat bawah dari kendali ke-
|
||||
seluruhan. Dapat diperhatikan pada persamaan~\eqref{eq:ss-formasi}, sebagai kendali tahap awal,
|
||||
bahwa state yang digunakan adalah koordinat. Maka koordinat tersebut akan men-
|
||||
jadi set point bagi robot. Variable yang dikendalikan pada kendali robot adalah
|
||||
|
|
@ -313,7 +314,8 @@ Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$.
|
|||
Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$.
|
||||
Setalah itu dapat ditentukan sudut $\alpha[k+1]$
|
||||
\begin{align}
|
||||
\alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg]
|
||||
\alpha[k+1] = cos^{-1}\Bigg[ \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg]
|
||||
\label{eq:algo_getAngle}
|
||||
\end{align}
|
||||
Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat.
|
||||
Sehingga diperlukan sedikit algoritma
|
||||
|
|
@ -345,13 +347,44 @@ mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$
|
|||
Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur
|
||||
berada pada sudut $90^\circ$.
|
||||
Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial.
|
||||
Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global pada kondisi inisial.
|
||||
Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global.
|
||||
|
||||
\todo{ buat psudo code dari algoritma ini, sehingga dapat di ambil referensi ke bab lain}
|
||||
\begin{algorithm}
|
||||
\DontPrintSemicolon
|
||||
TODO: make your algo here !
|
||||
\label{algo:solution_purpose}
|
||||
\KwInput{
|
||||
Integer $l_a>0$,
|
||||
$\tetangga_i=getConnectionRobot()$, }
|
||||
\KwOutput{$x_i^j$}
|
||||
|
||||
\tcc{inisialisasi}
|
||||
$dir = getRandomDirection()$\;
|
||||
$d_{before} = getDistanceFromSensor(\tetangga_i)$\;
|
||||
$r = \begin{bmatrix}
|
||||
l_a \cos(rand(0,360)) \\
|
||||
l_a \sin(rand(0,360))
|
||||
\end{bmatrix}$\;
|
||||
|
||||
\tcc{Menjalankan robot hingga mencapai setpoint}
|
||||
\While{isSetpointReached()}{
|
||||
$runRobotToSetpoint(r)$\;
|
||||
}
|
||||
|
||||
\tcc{Mengambil jarak setelah robot mencapai setpoint}
|
||||
$d_{after} = getDistanceFromSensor(\tetangga_i)$\;
|
||||
|
||||
\tcc{Mengkalkulasi sudut}
|
||||
$ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\;
|
||||
\If{$d_{before}<d_{after}$}
|
||||
{
|
||||
$ang = 180-ang$\;
|
||||
}
|
||||
\tcc{Menjadikan koordinat kartesian}
|
||||
$x_i^j = \begin{bmatrix}
|
||||
d_{after} \cos(ang) \\
|
||||
d_{after} \sin(ang)
|
||||
\end{bmatrix}$\;
|
||||
\caption{\textit{Algoritma inisialisasi}}
|
||||
\label{algo:solution_initialitation}
|
||||
\end{algorithm}
|
||||
\subsubsection{Implementasi Kendali Formasi Dengan Kendali Robot}
|
||||
|
||||
|
|
@ -376,6 +409,13 @@ Apabila diasumsikan state pada persamaan~\eqref{eq:ss-formasi} sebagai berikut
|
|||
maka $y_{rjn}$ adalah koordinat yang didapat dari algoritma atau hasil pengiriman data dari robot tetangga.
|
||||
Sedangkan $r$ pada persamaan~\eqref{eq:ss-control-robot-implement} adalah koordinat refrensi yang dihasilkan dari persamaan~\eqref{eq:ss-formasi}, $r = C_fx(t)$. Untuk lebih mudah dalam memahami dapat diperhatikan diagram pada gambar~\ref{fig:all-control}
|
||||
|
||||
\section{Strategi Uji Coba}
|
||||
Strategi ujicoba akan diawali dengan menghitung kesetabilan menggunakan teori Euler pada Bab \ref{bab:dua:solusi_ODE}.
|
||||
Langkah selanjutnya adalah percobaan terhadap Algoritma~\ref{algo:solution_initialitation} dengan kondisi robot tetangga dalam keadaan statis.
|
||||
Percobaan tersebut bermaksut untuk menguji apakah algoritma berjalan dengan benar.
|
||||
Langkah terakhir adalah percobaan keseluruhan robot menggunakan Algoritma yang dikembangkan
|
||||
dengan skenario percobaan yang sama dengan penelitian sebelumnya oleh \kutip{Rozenheck2015}.
|
||||
|
||||
\begin{figure}
|
||||
\centering
|
||||
\input{BAB4/img/implement-control.tex}
|
||||
|
|
@ -383,14 +423,6 @@ Sedangkan $r$ pada persamaan~\eqref{eq:ss-control-robot-implement} adalah koordi
|
|||
\label{fig:all-control}
|
||||
\end{figure}
|
||||
|
||||
\section{Strategi Uji Coba}
|
||||
Strategi ujicoba akan diawali dengan menghitung kesetabilan menggunakan teori Euler pada Bab \ref{bab:dua:solusi_ODE}.
|
||||
Langkah selanjutnya adalah percobaan terhadap Algoritma~\ref{algo:solution_purpose} dengan kondisi robot tetangga dalam keadaan statis.
|
||||
Percobaan tersebut bermaksut untuk menguji apakah algoritma berjalan dengan benar.
|
||||
Langkah terakhir adalah percobaan keseluruhan robot menggunakan Algoritma yang dikembangkan
|
||||
dengan skenario percobaan yang sama dengan penelitian sebelumnya oleh \kutip{Rozenheck2015}.
|
||||
|
||||
|
||||
\subsection{Analisa Kesetabilan Model}
|
||||
Perhitungan kesetabilan akan menggunakan parameter model dari penelitian sebelumnya, dapat diperhatikan di Tabel \ref{tab:param_model}.
|
||||
Parameter tersebut akan diimplementasi di persamaan~\eqref{eq:ss1}-\eqref{eq:ss2}.
|
||||
|
|
@ -409,9 +441,56 @@ Dari hasil analisa ini akan menghasilkan jarak terbaik untuk algoritma menentuka
|
|||
|
||||
\subsection{Analisa Percobaan Keseluruhan}
|
||||
|
||||
Percobaan keseluruhan akan menjalankan Algoritma \ref{algo:solution_purpose} yang diterapkan pada seluruh robot. Lalu, seperti skenario penelitian sebelumnya salah satu robot diberikan kecepatan refrensi untuk bergerak ke arah tertentu.
|
||||
Percobaan keseluruhan akan menjalankan Algoritma \ref{algo:solution_initialitation} yang diterapkan pada seluruh robot. Lalu, seperti skenario penelitian sebelumnya salah satu robot diberikan kecepatan refrensi untuk bergerak ke arah tertentu.
|
||||
|
||||
Dari hasil percobaan ini akan menghasilkan grafik respon dari keseluruhan robot terhadap perubahan error yang terjadi.
|
||||
Dengan hipotesis, keseluruhan robot akan menjaga jarak formasi dengan baik.
|
||||
|
||||
\subsection{Jadwal Penelitian}
|
||||
% \todo{
|
||||
% buat draftnya dan pakek library ini
|
||||
% \url{
|
||||
% http://www.martin-kumm.de/wiki/doku.php?id=05Misc:A_LaTeX_package_for_gantt_plots
|
||||
% }
|
||||
% }
|
||||
\begin{enumerate}
|
||||
\item Analisa kestabilan model
|
||||
\begin{enumerate}
|
||||
\item Pengembangan dan test Individu Model(1)
|
||||
\end{enumerate}
|
||||
\item Analisa algoritma dengan tetangga statis
|
||||
\begin{enumerate}
|
||||
\item Pengembangan dan test Kendali (1)
|
||||
\item Pengembangan dan test Koneksi antara Individu Model dan Kendali (2)
|
||||
\item Pengembangan dan test Algoritma dengan tetangga yang statis (2)
|
||||
\end{enumerate}
|
||||
\item Analisa algoritma keseluruhan
|
||||
\begin{enumerate}
|
||||
\item Pengembangan dan test Algoritma komunikasi antar kendali (3)
|
||||
\item Pengembangan dan test Algoritma keseluruhan (3)
|
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\end{enumerate}
|
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\end{enumerate}
|
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|
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|
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% \ganttbar{task 1}{0}{2}
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|
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% \ganttbarcon{task 9}{8}{2}
|
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|
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|
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|
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%% \subsection{
|
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Binary file not shown.
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@ -1,7 +1,7 @@
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% Graphic for TeX using PGF
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% Title: /home/adnr/Disk/Opo/PASCASARJANA/RESEARCH/[T01][FormationControl]/[DOC]/-p-formation-control/BAB4/img/implement-control.dia
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% Creator: Dia v0.97.3
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||||
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|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetmiterjoin
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (33.824083\du,19.881170\du)--(33.824083\du,21.781170\du)--(37.334083\du,21.781170\du)--(37.334083\du,19.881170\du)--cycle;
|
||||
\draw (33.824100\du,19.881200\du)--(33.824100\du,21.781200\du)--(37.334100\du,21.781200\du)--(37.334100\du,19.881200\du)--cycle;
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node at (35.579083\du,21.026170\du){Sensor};
|
||||
\node at (35.579100\du,21.026200\du){Sensor};
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetdash{}{0pt}
|
||||
|
|
@ -653,7 +681,7 @@
|
|||
\pgfsetarrowsend{stealth}
|
||||
{\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (39.944776\du,15.115158\du)--(39.958936\du,25.394424\du);
|
||||
\draw (39.898555\du,14.417028\du)--(39.955145\du,25.392572\du);
|
||||
}}
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
|
|
@ -666,30 +694,30 @@
|
|||
\pgfsetarrowsend{stealth}
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (36.812302\du,22.240727\du)--(39.203339\du,25.394074\du);
|
||||
\draw (36.812275\du,22.240715\du)--(39.203325\du,25.394085\du);
|
||||
}
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (36.592829\du,23.467408\du){};
|
||||
\node[anchor=west] at (36.592800\du,23.467400\du){};
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (37.940323\du,23.062411\du){$y_{rji}$};
|
||||
\node[anchor=west] at (37.940300\du,23.062400\du){$y_{rji}$};
|
||||
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
|
||||
\pgfsetfillcolor{dialinecolor}
|
||||
\fill (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle;
|
||||
\fill (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle;
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetmiterjoin
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle;
|
||||
\draw (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle;
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node at (24.397881\du,21.087422\du){B};
|
||||
\node at (24.397900\du,21.087400\du){B};
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
\pgfsetdash{}{0pt}
|
||||
|
|
@ -702,7 +730,7 @@
|
|||
\pgfsetarrowsend{stealth}
|
||||
{\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (24.394943\du,21.969604\du)--(24.392080\du,22.944202\du);
|
||||
\draw (24.394948\du,21.969608\du)--(24.392070\du,22.944232\du);
|
||||
}}
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{}{0pt}
|
||||
|
|
@ -716,10 +744,50 @@
|
|||
\pgfsetarrowsend{stealth}
|
||||
{\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (21.517888\du,20.992417\du)--(23.340032\du,20.978184\du);
|
||||
\draw (21.517900\du,20.992400\du)--(23.340048\du,20.978164\du);
|
||||
}}
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (19.865395\du,21.112419\du){$v_{ref}$};
|
||||
\node[anchor=west] at (19.865400\du,21.112400\du){$v_{ref}$};
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm}
|
||||
\pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm}
|
||||
\pgfsetbuttcap
|
||||
{
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetfillcolor{dialinecolor}
|
||||
% was here!!!
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (34.335007\du,28.700177\du)--(36.891799\du,28.700177\du);
|
||||
}
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (37.070180\du,28.878558\du){Tingkat Akhir};
|
||||
\pgfsetlinewidth{0.100000\du}
|
||||
\pgfsetdash{{1.000000\du}{1.000000\du}}{0\du}
|
||||
\pgfsetdash{{0.300000\du}{0.300000\du}}{0\du}
|
||||
\pgfsetbuttcap
|
||||
{
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetfillcolor{dialinecolor}
|
||||
% was here!!!
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\draw (34.307709\du,29.642081\du)--(36.864500\du,29.642081\du);
|
||||
}
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (37.105856\du,29.800192\du){Tingkat Awal};
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (38.972908\du,29.711001\du){};
|
||||
% setfont left to latex
|
||||
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
|
||||
\pgfsetstrokecolor{dialinecolor}
|
||||
\node[anchor=west] at (39.062099\du,29.681271\du){};
|
||||
\end{tikzpicture}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,263 @@
|
|||
\ProvidesPackage{gantt}[2011/03/20 Some macros for drawing gantt diagrams using tkiz v.1.3]
|
||||
% Some macros for drawing gantt diagrams using tkiz.
|
||||
%
|
||||
% Martin Kumm, 17.05.2010 (Version 1.0)
|
||||
% Alan Munn, Martin Kumm, 14.03.2011 (Version 1.2)
|
||||
% Andrés Silva Marambio, 20.03.2011 (Version 1.3)
|
||||
%
|
||||
% Update 20.03.2011, Version 1.3
|
||||
%
|
||||
% changes from v1.2:
|
||||
% change \ProvidesPackage{gantt.sty} for \ProvidesPackage{gantt}
|
||||
% add \bfseries for the command \ganttgroup
|
||||
% add two newcommands for doing Gantt Milestones: \ganttmilestone and \ganttmilestonecon
|
||||
% usage: \ganttmilestone[color=<color>]{label}{start} - Create a gantt milestone using a diamond
|
||||
% usage: \ganttmilestonecon[color=<color>]{label}{start} - Create a gantt milestone using a diamond and conect with the previuos itemg
|
||||
% fixed the issue when \ganttbarcon or \ganttmilestonecon connect in decimal positions
|
||||
%
|
||||
% Update 15.03.2011, Version 1.2
|
||||
%
|
||||
% changes from v1.1:
|
||||
% px sizes has ben changed ot pt due to problems with some LaTeX distributions (thanks to Michael Kubovy and Loïc Le Guyader!)
|
||||
% Correction of the text aligned in \titleelement (thanks to Josh Hykes!)
|
||||
% \unitlength was changed to \ganttunitlength (thanks to Alan Munn!)
|
||||
% \RequirePackage was added (thanks to Alan Munn!)
|
||||
%
|
||||
% Update 05.08.2010, Version 1.1
|
||||
%
|
||||
% changes from v1.0:
|
||||
% \ganttbar and \ganttbarcon have been extended with the xkeyval syntax
|
||||
% The pattern of the bar is now independent of the color and can be set by
|
||||
% e.g. \ganttbar[pattern=horizontal lines,color=blue]{...}{1}{1}
|
||||
% This syntax is incompatible with the previous ones!
|
||||
% replace \ganttbar[<pattern>] with \ganttbar[pattern=<pattern>]
|
||||
|
||||
\RequirePackage{tikz,pgffor,xkeyval,ifthen,calc,forloop}
|
||||
|
||||
\usetikzlibrary{patterns}
|
||||
\usetikzlibrary{arrows}
|
||||
|
||||
\newcounter{ganttnum}
|
||||
\newcounter{ganttwidth}
|
||||
|
||||
\newlength{\ganttlastx}
|
||||
\setlength{\ganttlastx}{0cm}
|
||||
|
||||
\newlength{\nextganttlastx}
|
||||
|
||||
\newlength{\gantttmpa}
|
||||
\newlength{\gantttmpb}
|
||||
\newlength{\ganttunitlength}
|
||||
|
||||
\setlength{\ganttunitlength}{1cm}
|
||||
|
||||
\newlength{\titleunitlength}
|
||||
\setlength{\titleunitlength}{1cm}
|
||||
|
||||
\newcounter{gantttitlenum}
|
||||
|
||||
\define@key{ganttx}{xunitlength}{%
|
||||
\setlength{\ganttunitlength}{#1}
|
||||
}
|
||||
\define@boolkey{ganttx}{drawledgerline}{}
|
||||
|
||||
\define@key{ganttx}{fontsize}{\def\ganttfontsize{#1}}
|
||||
\define@key{ganttx}{titlefontsize}{\def\gantttitlefontsize{#1}}
|
||||
|
||||
\presetkeys{ganttx}{drawledgerline=false,xunitlength=1cm,titlefontsize=\small,fontsize=\normalsize}{}
|
||||
|
||||
\define@key{ganttbarx}{pattern}{\def\ganttbarpattern{#1}}
|
||||
\define@key{ganttbarx}{color}{\def\ganttbarcolor{#1}}
|
||||
|
||||
\presetkeys{ganttbarx}{pattern=north west lines,color=black}{}
|
||||
|
||||
|
||||
% The gantt environment draws the canvas of a gantt figure (realized as tikzpicture)
|
||||
% The usage is \begin{gantt}[...]{no of Tasks to plot}{no of time slots}
|
||||
% The optional argument [...] can be filled in a key=value syntax, using one or more of the following keys:
|
||||
%
|
||||
% xunitlength - length of one time slot (default: 1 cm)
|
||||
% fontsize - fontsize of labels (default: \normalsize)
|
||||
% titlefontsize - fontsize of title section (default: \small)
|
||||
% drawledgerline - Switch to enable/disable the drawing of horizontal ledger lines (default value: false)
|
||||
|
||||
\newenvironment{gantt}[3][]{%
|
||||
\begin{tikzpicture}[draw=black, yscale=.7,xscale=1]
|
||||
\tikzstyle{time}=[coordinate]
|
||||
\setkeys{ganttx}{#1}{%
|
||||
\setcounter{ganttwidth}{#3}
|
||||
|
||||
\setcounter{ganttnum}{0}
|
||||
\newcount\ganttx
|
||||
\newcount\ganttheight
|
||||
\ganttheight=#2 %define the number of Y ticks
|
||||
\advance\ganttheight by 1
|
||||
|
||||
\def\ganttxstringtop{};
|
||||
\def\ganttxstringbottom{};
|
||||
|
||||
\ganttx=0
|
||||
\draw (0,0.5) node[above] {\ganttxstringtop} -- (0,1.4-\ganttheight) node[below] {\ganttxstringbottom};
|
||||
\draw (\value{ganttwidth}*\ganttunitlength,0.5) node[above] {\ganttxstringtop} -- (\value{ganttwidth}*\ganttunitlength,1.4-\ganttheight) node[below] {\ganttxstringbottom};
|
||||
|
||||
%draw grid
|
||||
\foreach \t in {1,2,...,\value{ganttwidth}}{
|
||||
\ganttx=1
|
||||
\multiply\ganttx by \t
|
||||
|
||||
\draw[dotted] (\ganttunitlength*\t,-0.5) node[above] {\ganttxstringtop} -- (\ganttunitlength*\t,1.4-\ganttheight) node[below] {\ganttxstringbottom};
|
||||
}
|
||||
%draw x axis
|
||||
\draw[] (0,-#2+0.4) -- (\value{ganttwidth}*\ganttunitlength,-#2+0.4);
|
||||
}
|
||||
}{\end{tikzpicture}}
|
||||
|
||||
|
||||
% ganttitle is the environment for drawing the title section
|
||||
\newenvironment{ganttitle}[1][]{%
|
||||
\setlength{\ganttlastx}{0 cm}
|
||||
}{%
|
||||
\setlength{\ganttlastx}{0 cm}
|
||||
\addtocounter{ganttnum}{-1}%
|
||||
}
|
||||
|
||||
% \titleelement draws one element of the title
|
||||
% usage: \titleelement{label}{length}
|
||||
\newcommand{\titleelement}[2]{
|
||||
\setlength{\gantttmpa}{\ganttunitlength*#2}
|
||||
\divide\gantttmpa by 2;
|
||||
|
||||
\draw (\the\ganttlastx,\value{ganttnum}) rectangle (\the\ganttlastx+#2*\ganttunitlength,\value{ganttnum}+0.6);
|
||||
\node [text height=1.5ex,text depth=0.7ex] at (\the\ganttlastx+\the\gantttmpa,\value{ganttnum}+0.25) {%
|
||||
\gantttitlefontsize #1%
|
||||
};
|
||||
\setlength{\ganttlastx}{\ganttlastx+\ganttunitlength*\real{#2}}
|
||||
}
|
||||
|
||||
|
||||
% \numtitle draws a numbered sequence of title elements
|
||||
% usage: \numtitle{start number}{increment}{end number}{length of each title element}
|
||||
\newcommand{\numtitle}[4]{
|
||||
\forloop[#2]{gantttitlenum}{#1}{\(\value{gantttitlenum} < #3\) \or \(\value{gantttitlenum} = #3\)}%
|
||||
{%
|
||||
\titleelement{\thegantttitlenum}{#4}
|
||||
}
|
||||
}
|
||||
|
||||
% \ganttbar draws a single, unconnected bar for representing a task
|
||||
% usage: \ganttbar[pattern=<pattern>,color=<color>]{label}{start}{length}
|
||||
% where the optional comma separated arguments are:
|
||||
% pattern - is a tikz pattern (e.g. north west lines (default), north east lines, crosshatch, crosshatch dots, grid, ...)
|
||||
% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray)
|
||||
% for more information see the tikz documentation
|
||||
\newcommand{\ganttbar}[4][]{
|
||||
\setlength{\gantttmpa}{#3\ganttunitlength}
|
||||
\setlength{\gantttmpb}{#4\ganttunitlength}
|
||||
\setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
|
||||
|
||||
\ifKV@ganttx@drawledgerline
|
||||
\draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
|
||||
\fi
|
||||
\node at (0,\value{ganttnum}) [anchor=base east] {%
|
||||
\ganttfontsize #2%
|
||||
};
|
||||
\setkeys{ganttbarx}{#1}{%
|
||||
\draw[pattern=\ganttbarpattern,pattern color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) rectangle (\gantttmpb,\value{ganttnum}+0.5);
|
||||
}
|
||||
\setlength{\ganttlastx}{\gantttmpb}
|
||||
\addtocounter{ganttnum}{-1}
|
||||
}
|
||||
|
||||
|
||||
% \ganttcon draws an arrow between to bars with specified coordinates
|
||||
% usage: \ganttcon{startx}{starty}{endx}{endy}
|
||||
\newcommand{\ganttcon}[4]{
|
||||
\draw[-latex,rounded corners=1pt] (#1\ganttunitlength,-#2+0.1 + 0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2+0.1+0.2) -- (#1\ganttunitlength+0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#2-0.4+0.2) -- (#1\ganttunitlength-0.4*\ganttunitlength,-#4+0.1+0.2) -- (#3\ganttunitlength,-#4+0.1+0.2);
|
||||
}
|
||||
|
||||
|
||||
% \ganttbarcon draws a single bar *and* connects the bar with the previous bar for
|
||||
% consecutive tasks
|
||||
% usage: \ganttbarcon[pattern=<pattern>,color=<color>]{label}{start}{length}
|
||||
% where the optional pattern argument are the same as for \ganttbar
|
||||
\newcommand{\ganttbarcon}[4][]{
|
||||
\setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength}
|
||||
\ifdim\nextganttlastx>#3\ganttunitlength
|
||||
\draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2);
|
||||
\else
|
||||
\draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength,\value{ganttnum}+0.1+0.2);
|
||||
\fi
|
||||
\ganttbar[#1]{#2}{#3}{#4}
|
||||
}
|
||||
|
||||
|
||||
% \ganttgroup draws a bar to group tasks
|
||||
% usage: \ganttgroup{label}{start}{length}
|
||||
\newcommand{\ganttgroup}[3]{%
|
||||
\setlength{\gantttmpa}{#2\ganttunitlength}
|
||||
\setlength{\gantttmpb}{#3\ganttunitlength}
|
||||
\setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
|
||||
|
||||
\ifKV@ganttx@drawledgerline
|
||||
\draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
|
||||
\fi
|
||||
\node at (0,\value{ganttnum}) [anchor=base east] {%
|
||||
\ganttfontsize\bfseries #1%
|
||||
};
|
||||
\fill[black] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) rectangle (\gantttmpb+0.14cm,\value{ganttnum}+0.4);
|
||||
\draw[diamond-diamond] (\gantttmpa-0.14cm,\value{ganttnum}+0.2) -- (\gantttmpb+0.14cm,\value{ganttnum}+0.2);
|
||||
|
||||
\setlength{\ganttlastx}{\gantttmpb}
|
||||
\addtocounter{ganttnum}{-1}
|
||||
}
|
||||
|
||||
|
||||
% \ganttmilestone, draw a diamond to represent a milestone
|
||||
% usage: \ganttgroup[fill=<color>]{label}{start}
|
||||
% color - a tikz color of the pattern (e.g. red, green blue gray, dark gray)
|
||||
% for more information see the tikz documentation
|
||||
|
||||
% Declaring layers to abvoid superposition when you connect a \ganttmileston with a task
|
||||
\pgfdeclarelayer{background}
|
||||
\pgfdeclarelayer{foreground}
|
||||
\pgfsetlayers{background,main,foreground}
|
||||
|
||||
\newcommand{\ganttmilestone}[3][]{
|
||||
\setlength{\gantttmpa}{#3\ganttunitlength}
|
||||
\setlength{\gantttmpb}{0\ganttunitlength}
|
||||
\setlength{\gantttmpb}{\gantttmpa+\gantttmpb}
|
||||
|
||||
\ifKV@ganttx@drawledgerline
|
||||
\draw[dotted] (0,\value{ganttnum}-0.2) -- (\value{ganttwidth}*\ganttunitlength,\value{ganttnum}-0.2);
|
||||
\fi
|
||||
\node at (0,\value{ganttnum}) [anchor=base east] {%
|
||||
\ganttfontsize #2%
|
||||
};
|
||||
\setkeys{ganttbarx}{#1}{%
|
||||
\pgfonlayer{foreground}
|
||||
\draw[diamond-, color=\ganttbarcolor] (\gantttmpa,\value{ganttnum}+0.1) -- (\gantttmpb,\value{ganttnum}+0.4);
|
||||
\endpgfonlayer
|
||||
}
|
||||
\setlength{\ganttlastx}{\gantttmpb}
|
||||
\addtocounter{ganttnum}{-1}
|
||||
}
|
||||
|
||||
|
||||
% \ganttmilestonecon draws a single diamond *and* connects the diamond with the previous task
|
||||
% usage: \ganttmilestonecon[color=<color>]{label}{start}{length}
|
||||
% where the optional color argument are the same as for \ganttbar and \ganttmilestone
|
||||
|
||||
\newcommand{\ganttmilestonecon}[3][]{
|
||||
\setlength{\nextganttlastx}{\the\ganttlastx+1\ganttunitlength}
|
||||
\ifdim\nextganttlastx>#3\ganttunitlength
|
||||
\draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.6+0.2) -- (\the\ganttlastx-0.4*\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2);
|
||||
%
|
||||
\else
|
||||
\draw[-latex,rounded corners=1pt] (\the\ganttlastx,\value{ganttnum}+1.1 + 0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+1.1+0.2) -- (\the\ganttlastx+0.4*\ganttunitlength,\value{ganttnum}+0.1+0.2) -- (#3\ganttunitlength-1.8,\value{ganttnum}+0.1+0.2);
|
||||
\fi
|
||||
% \fi
|
||||
\ganttmilestone[#1]{#2}{#3}
|
||||
}
|
||||
|
||||
|
||||
\endinput
|
||||
|
|
@ -98,8 +98,8 @@
|
|||
\include{BAB2/bab2}
|
||||
\include{BAB3/bab3}
|
||||
\include{BAB4/bab4}
|
||||
\include{BAB5/bab5}
|
||||
\include{BAB6/bab6}
|
||||
% \include{BAB5/bab5}
|
||||
% \include{BAB6/bab6}
|
||||
\include{OTHER/kesimpulan}
|
||||
|
||||
%
|
||||
|
|
|
|||
|
|
@ -181,6 +181,7 @@
|
|||
%
|
||||
\usepackage{caption}
|
||||
|
||||
\usepackage{gantt}
|
||||
%-----------------------------------------------------------------------------%
|
||||
% Konfigurasi
|
||||
%-----------------------------------------------------------------------------%
|
||||
|
|
|
|||
Loading…
Reference in New Issue