Rancang Bangun Sistem Auto-Docking Kursi Roda Elektrik Dengan UWB Dan Kamera Termal

Azka, Farhan Aulia (2024) Rancang Bangun Sistem Auto-Docking Kursi Roda Elektrik Dengan UWB Dan Kamera Termal. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kursi roda elektrik yang dapat memudahkan mobilisasi pasien disabilitas dapat mengalami kendala kehabisan baterai karena berbagai faktor. Oleh karena itu dikembangkan sistem auto-docking yang memanfaatkan teknologi Ultra-Wideband (UWB) untuk lokalisasi sistem dan kamera termal untuk meningkatkan akurasi posisi akhir. Sistem ini menggunakan kursi roda elektrik yang dikendalikan oleh laptop melalui mikrokontroler. Posisi kursi roda ditentukan melalui trilaterasi data jarak dari tag UWB ke tiga anchor yang ditransmisikan melalui WiFi. Untuk menghindari tabrakan, LiDAR digunakan untuk mendeteksi objek penghalang di sekitar kursi roda. Kamera termal ditambahkan untuk meningkatkan akurasi penempatan kursi roda pada destinasi dengan mendeteksi elemen panas dan menghitung centroid-nya. Pada sistem ini diasumsikan menggunakan pengecasan metode wireless charging untuk memudahkan mobilisasi. Hasil penelitian menunjukkan bahwa penambahan kamera termal berhasil mengurangi error rata-rata pergeseran absolut dari 0,297 meter menjadi 0,045 meter, atau setara dengan peningkatan akurasi sebesar 84,8%. Dengan demikian, sistem yang dikembangkan mampu melakukan auto-docking dengan acuan data lokasi dari modul UWB serta akurasinya dapat ditingkatkan dengan kamera termal.
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Electric wheelchairs that can facilitate the mobilization of disabled patients can experience battery drain problems due to various factors. Therefore, an auto-docking system was developed that utilizes Ultra-Wideband (UWB) technology for system localization and a thermal camera to improve the accuracy of the final position. This system uses an electric wheelchair controlled by a laptop via a microcontroller. The position of the wheelchair is determined through trilateration of distance data from the UWB tag to three anchors transmitted via WiFi. To avoid collisions, LiDAR is used to detect obstructing objects around the wheelchair. A thermal camera is added to improve the accuracy of wheelchair placement at the destination by detecting heat element and calculating its centroid. This system is assumed to use a wireless charging method to facilitate mobilization. The results of the study showed that the addition of a thermal camera succeeded in reducing the average absolute shift error from 0.297 meters to 0.045 meters, or equivalent to an increase in accuracy of 84.8%. Thus, the developed system is capable of performing auto-docking with reference to location data from the UWB module and its accuracy can be improved with a thermal camera.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kamera termal, Kursi roda, Lokalisasi, UWB
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5103.2 Wireless communication systems. Two way wireless communication T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6592.A9 Automatic tracking. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Farhan Aulia Azka
Date Deposited:	02 Aug 2024 03:24
Last Modified:	02 Aug 2024 03:24
URI:	http://repository.its.ac.id/id/eprint/111167

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