Syamlan, Muhammad Ariq (2025) Rancang Bangun Perangkat Bantu Navigasi dalam Ruangan Non-Kontak Berbasis Radar Ultra-Wideband Untuk Penyandang Tunanetra dengan Algoritma A*. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Mobilitas penyandang tunanetra di lingkungan dalam ruangan menghadapi tantangan signifikan karena keterbatasan alat bantu tradisional seperti tongkat yang memiliki jangkauan terbatas dan memerlukan kontak fisik. Penelitian ini mengembangkan perangkat bantu navigasi non-kontak berbasis radar Ultra Wideband (UWB) untuk penyandang tunanetra menggunakan algoritma A* sebagai sistem perencanaan jalur optimal. Sistem ini mengintegrasikan radar UWB DW1000 untuk penentuan posisi dengan akurasi tinggi, sensor Inertial Measurement Unit (IMU) BNO055 untuk deteksi orientasi, sensor ultrasonik RCWL1601 untuk deteksi obstacle, dan feedback haptic melalui gelang getar sebagai panduan navigasi. Pengujian hardware menunjukkan performa yang sangat baik, dimana radar UWB mencapai akurasi pengukuran jarak dengan Root Mean Square Error (RMSE) konsisten antara 0,1002 hingga 0,126 meter dan koefisien determinasi (R²) mencapai 0,9991 hingga 0,9995. Pengujian algoritma path planning membuktikan keunggulan signifikan algoritma A* dibandingkan Dijkstra, terutama pada lingkungan dengan obstacle kompleks. Pengujian sistem navigasi pada empat target berbeda yaitu kursi, lemari, pintu, dan meja menunjukkan tingkat keberhasilan 100% dengan variasi performa berdasarkan kompleksitas target. Efisiensi navigasi berkisar 26,40% hingga 51,19% dengan durasi 85,93 hingga 162,32 detik. Target meja menunjukkan performa optimal dengan efisiensi 87,5% dan overhead 14,3%, sementara target lemari menunjukkan tantangan terbesar dengan efisiensi 52,2%. Perbedaan karakteristik navigasi antar subjek menunjukkan variasi individual yang signifikan, dimana subjek dengan pendekatan berani mencapai efisiensi waktu 2,4 kali dan efisiensi jarak 2,3 kali lebih baik dibandingkan subjek berhati-hati. Sistem feedback haptic terbukti efektif memberikan panduan arah dengan toleransi 5 derajat. Hasil penelitian ini menunjukkan bahwa sistem navigasi non kontak yang dikembangkan dapat meningkatkan kemandirian penyandang tunanetra dalam bernavigasi di lingkungan indoor dengan tingkat akurasi, efisiensi, dan keamanan yang memadai.
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Mobility of visually impaired individuals in indoor environments faces significant challenges due to limitations of traditional assistive devices such as canes that have limited range and require physical contact. This research develops a non-contact navigation assistance device based on Ultra-Wideband (UWB) radar for visually impaired individuals using the A* algorithm as an optimal path planning system. The system integrates UWB DW1000 radar for high-accuracy position determination, Inertial Measurement Unit (IMU) BNO055 sensor for orientation detection, RCWL1601 ultrasonic sensor for obstacle detection, and haptic feedback through vibrating bracelets as navigation guidance. Hardware testing demonstrates excellent performance, where UWB radar achieves distance measurement accuracy with consistent Root Mean Square Error (RMSE) between 0,1002 to 0,126 meters and coefficient of determination (R²) reaching 0,9991 to 0,9995. Path planning algorithm testing proves significant advantages of A* algorithm compared to Dijkstra, especially in environments with complex obstacles. A* with Euclidean heuristic shows 68% better efficiency with execution time. Navigation system testing on four different targets chair, cabinet, door, and table, shows 100% success rate with performance variations based on target complexity. Navigation efficiency ranges from 26,40% to 51,19% with duration from 85,93 to 162,32 seconds. The table target shows optimal performance with 87,5% efficiency and 14,3% overhead, while the cabinet target presents the greatest challenge with 52,2% efficiency. Differences in navigation characteristics between subjects show significant individual variation, where subjects with a bold approach achieve 2,4 times better time efficiency and 2,3 times better distance efficiency compared to cautious subjects. The results of this research demonstrate that the developed non-contact navigation system can enhance the independence of visually impaired individuals in navigating indoor environments with adequate levels of accuracy, efficiency, and safety.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Tunanetra, Radar Ultra-Wideband, Inertial Measurement Unit, Haptic Feedback , Algoritma A-star. Visually Impaired, Ultra-Wideband Radar, Inertial Measurement Unit, Haptic Feedback, A-star Algorithm. |
| Subjects: | T Technology > T Technology (General) > T57.5 Data Processing T Technology > T Technology (General) > T57.84 Heuristic algorithms. T Technology > TA Engineering (General). Civil engineering (General) > TA1573 Detectors. Sensors T Technology > TA Engineering (General). Civil engineering (General) > TA355 Vibration. T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. |
| Divisions: | Faculty of Electrical Technology > Biomedical Engineering > 11410-(S1) Undergraduate Thesis |
| Depositing User: | Muhammad Ariq Syamlan |
| Date Deposited: | 04 Aug 2025 02:00 |
| Last Modified: | 04 Aug 2025 02:00 |
| URI: | http://repository.its.ac.id/id/eprint/126757 |
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