Utomo, Dadang Yuni (2018) SISTEM DETEKSI GARIS LANTAI DAN HALANGAN UNTUK NAVIGASI MOBILE ROBOT BERBASIS KAMERA. Skripsi thesis, Institut Teknologi Nasional Malang.
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Abstract
Sistem Deteksi Garis Lantai Dan Halangan Untuk Navigasi Mobile Robot Berbasis Kamera Dadang Yuni Utomo Aryuanto Soetedjo M. Ibrahim Ashari dadanginuy@gmail.com Abstrak Pada kemajuan global saat ini, robot digunakan untuk mempermudah serta meminimalisir resiko dari setiap kegiatan manusia sehari-hari. Jenis robot yang banyak digunakan dalam rangka membantu kehidupan manusia adalah mobile robot. Untuk melakukan tugasnya robot memerlukan navigasi yang baik dalam proses menuju tempat tujuan dengan merencanakan rute serta mengantisipasi jika ada halangan. Dalam penelitian ini, dibuat sebuah sistem untuk deteksi garis lantai sebagai acuan jalur mobile robot serta deteksi adanya halangan. Mobile robot melaju mengikuti titik tengah dari garis dan ketika ada halangan robot akan menghindarinya. Sistem ini menggunakan library yang sudah ada yakni OpenCV dan pemrosesan dilakukan oleh Raspberry Pi, kemudian data koordinat x garis dan halangan dikirim ke arduino dengan jalur komunikasi secara serial. Hasil dari pengujian sistem secara keseluruhan, sistem mampu membantu mobile robot mengikuti garis lantai serta mendeteksi ketika ada halangan berdasarkan nilai koordinat x yang dikirim ke Arduino. Sistem ini berjalan dengan baik pada resolusi 160x120 dengan nilai FPS 15 dan waktu deteksi 0,063 detik. Kata Kunci : Pengolahan Citra, Deteksi Garis, Deteksi Halangan, OpenCV, Raspberry. iii Floor Line And Obstacle Detection System For Camera Based Mobile Robot Navigation Dadang Yuni Utomo Aryuanto Soetedjo M. Ibrahim Ashari dadanginuy@gmail.com Abstract In this globalization era, robot is used to simplify and minimize the risk in every daily activity of humans. The kind of robot which is widely used in order to help humans’ life is mobile robot. In doing the task, robot needs a good navigation to get to the desired place by planning a route and anticipating if there are obstacles. In this research, it was made a floor line detection system as the guide of mobile robot navigation lane as well as the detection of obstacles. Mobile robot will follow the center coordinate of line and when there are obstacles, the robot will avoid it. This system uses OpenCV library and it is processed in Raspberry pi 3 Model B, then the x coordinate of line and the obstacles are sent through serial communication to Arduino. From the result of the overall system testing, the system was able to help mobile robot to follow the floor line and detect when there are obstacles based on x the coordinate value which were sent to Arduino. This system was well operated in the 160x120 resolution with 15 FPS value and 0.063 second duration of detection. Keywords : Image Processing, Line Detection, Obstacles Detection, OpenCV, Raspberry
| Item Type: | Thesis (Skripsi) |
|---|---|
| Uncontrolled Keywords: | Image Processing, Line Detection, Obstacles Detection, OpenCV, Raspberry |
| Subjects: | Engineering > Electrical Engineering |
| Divisions: | Fakultas Teknologi Industri > Teknik Elektro S1 > Teknik Elektro S1(Skripsi) |
| Depositing User: | Ms Nunuk Yuli |
| Date Deposited: | 21 Feb 2019 02:45 |
| Last Modified: | 13 Mar 2019 06:39 |
| URI: | http://eprints.itn.ac.id/id/eprint/2217 |
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