Pengembangan Sistem Navigasi Line Following Drone Berbasis Visi Komputer Dengan Kemampuan Berpindah Ketinggian Lantai

Besari, Dani Wirayuda (2024) Pengembangan Sistem Navigasi Line Following Drone Berbasis Visi Komputer Dengan Kemampuan Berpindah Ketinggian Lantai. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Drone atau biasa dikenal sebagai pesawat nirawak merupakan pesawat yang bisa beroperasi tanpa adanya individu yang mengendarai di dalamnya. Drone dapat dibagi menjadi fixed wing yang memiliki sayap layaknya pesawat pada umumnya dan VTOL (Vertical Take-Off and Landing) yang biasanya hadir dalam bentuk quadcopter. Hingga saat ini drone sudah banyak dimanfaatkan baik dalam kehidupan sehari-hari seperti dalam keperluan fotografi dan pengawasan daerah hingga keperluan militer seperti pengumpulan informasi. Salah satu kegunaan drone adalah membantu manusia dalam melakukan pengawasan, drone dapat menjangkau area yang lebih luas jika dibandingkan dengan robot mobile maupun kamera biasa. Line following drone adalah drone yang menggunakan prinsip line following untuk bernavigasi. Dalam navigasi drone, biasanya digunakan sebuah GPS, namun dalam aplikasi dalam ruangan GPS sering kali memiliki performa yang buruk. Dengan menggunakan line following, diharapkan bisa menjadi salah satu metode dalam navigasi drone dalam ruangan. Dalam pembuatannya digunakan sebuah kamera, single board computer, dan sensor ultrasonik yang dipasangkan pada drone. single board computer digunakan untuk memproses gambar yang ditangkap oleh kamera dan informasi dari sensor ultrasonik, yang kemudian diolah untuk mendapatkan informasi yang diperlukan dalam pengendalian roll, pitch, yaw, dan throtle drone. pada penelitian ini, line following drone sudah berhasil dibuat dan diuji. Beberapa pengujian yang dilakukan adalah, simpangan rata-rata drone dari titik tengah garis di mana didapatkan drone bergerak rata-rata 7.28 cm dari garis. Selain itu drone dapat melakukan pengindraan jarak dengan rata-rata error sebesar 2.17 cm. drone juga dapat menjaga ketinggian pada jarak 40 cm dengan error rata-rata 11%.

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Drone or what we usually known as Unmanned Aerial Vehicle (UAV) is a kind of flying object that can operate without a pilot inside it. Drones can be divided into fixed wings which have pair of wings like a traditional plane and VTOL (Vertical Take-Off and Landing) that usually come in a form of quadcopter. To this day drone is already used in many situations from daily lives like taking a photograph and patrolling an area as well as military use case like gathering of information. One of Drones usability is to aid humans in surveillance field, with a drone the coverage area can be a lot wider than a traditional mobile robot or a stationary camera. a line following drone is a drone that use line following principle in deciding it path. In drone navigation, GPS is usually used, however in indoor application GPS have poor performance. With line following drone, it is hoped that it can be another method that can be used for indoor drone navigation. in the making of a line following drone, a camera, a single board computer, and an ultrasonic sensor is attached to a drone. the single board computer will process the picture being taken by the camera and extracted the needed information in controlling the roll, pitch, and yaw of the drone. while the ultrasonic sensor also sending the height information to the single board computer to be used in the throttle control. in this research, the line following drone has been successfully made and tested. a series of testing have been done to get the deviation of the drone from the middle of the line which resulted in average of 7.28 cm. other than that, drone can also successfully detected of its height with error around 2.17 cm on average. the line following drone also manage to keep it height around 40 cm with average error about 11%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Drone, Kamera, Line Tracing, ketinggian permukaan Drone, Camera, Line Tracing, Surface Level
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL589.2.N3 Navigation computer T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Dani Wirayuda Beseari
Date Deposited:	31 Jul 2024 04:39
Last Modified:	31 Jul 2024 04:39
URI:	http://repository.its.ac.id/id/eprint/110790

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