Implementasi Perangkat Prediksi Jarak Hambatan Bagi Penyandang Tunanetra untuk Bernavigasi dalam Ruangan Berbasis Sensor Ultrasonik

-, Sila Ulfania (2026) Implementasi Perangkat Prediksi Jarak Hambatan Bagi Penyandang Tunanetra untuk Bernavigasi dalam Ruangan Berbasis Sensor Ultrasonik. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Mobilitas merupakan salah satu kendala utama bagi penyandang tunanetra karena keterbatasan penglihatan membuat mereka sulit mendeteksi hambatan di lingkungan sekitar. Alat bantu konvensional seperti tongkat putih masih memiliki keterbatasan dalam memberikan informasi jarak hambatan secara terukur sehingga diperlukan perangkat bantu yang sederhana, portabel, dan sesuai untuk navigasi indoor. Penelitian ini bertujuan merancang dan mengimplementasikan perangkat bantu navigasi indoor berbasis sensor ultrasonik HC-SR04 dan mikrokontroler ESP32. Sistem membaca jarak hambatan di depan pengguna, kemudian data diproses menggunakan median filtering dengan lima data pembacaan dan diklasifikasikan menggunakan metode thresholding ke dalam tiga kondisi, yaitu Bahaya, Waspada, dan Aman. Keluaran utama sistem berupa buzzer aktif dengan pola bunyi (ON/OFF) yang berubah sesuai jarak hambatan, sedangkan aplikasi seluler digunakan sebagai media pemantauan tambahan melalui Wi-Fi lokal dengan format data JSON. Pengujian dilakukan terhadap objek dinding, kursi, 2 kardus, dan 3 kardus, serta mencakup pengujian respon buzzer, posisi genggaman, lebar area deteksi sensor terhadap pergeseran lateral, aplikasi seluler, dan demonstrasi langsung kepada penyandang tunanetra. Hasil pengujian menunjukkan bahwa sensor bekerja lebih stabil pada objek dengan permukaan datar dan bidang pantul luas. Objek dinding menghasilkan rata-rata error sebesar 1.05% dan 1.73%, objek kursi sebesar 3.90% dan 3.02%, objek 2 kardus sebesar 3.50% dan 11.51%, sedangkan objek 3 kardus sebesar 1.22% dan 1.38%. Pengujian posisi genggaman dan pergeseran lateral menunjukkan bahwa arah sensor memengaruhi keberhasilan deteksi obstacle. Selain itu, hasil demonstrasi menunjukkan bahwa alat mampu membantu pengguna mengetahui keberadaan obstacle di depan melalui bunyi buzzer yang dihasilkan. Berdasarkan hasil tersebut, sistem yang dikembangkan dapat berfungsi sebagai prototipe perangkat bantu navigasi indoor yang portabel, sederhana, dan tidak bergantung pada kamera maupun koneksi internet.
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Mobility is one of the main challenges faced by visually impaired people because limited vision makes it difficult for them to detect obstacles in the surrounding environment. Conventional assistive devices, such as white canes, still have limitations in providing measurable obstacle-distance information; therefore, a simple, portable, and suitable assistive device for indoor navigation is needed. This study aims to design and implement an indoor navigation assistive device based on the HC-SR04 ultrasonic sensor and ESP32 microcontroller. The system reads the distance of obstacles in front of the user, processes the data using median filtering with five readings, and classifies the results using the thresholding method into three conditions: Danger, Warning, and Safe. The main output of the system is an active buzzer with an ON/OFF sound pattern that changes according to the obstacle distance, while a mobile application is used as an additional monitoring medium through a local Wi-Fi network using JSON data format.Testing was carried out on wall, chair, two-box, and three-box objects, and also included buzzer response testing, handgrip position testing, sensor detection area testing against lat eral displacement, mobile application testing, and direct demonstration to a visually impaired user. The test results show that the sensor works more stably on objects with flat surfaces and wider reflection areas. The wall object produced average errors of 1.05% and 1.73%, the chair object produced average errors of 3.90% and 3.02%, the two box object produced average errors of 3.50% and 11.51%, while the three-box object produced average errors of 1.22% and 1.38%. Handgrip position and lateral displacement testing showed that sensor direction affects obstacle detection performance. In addition, the demonstration results showed that the device was able to help users recognize obstacles in front of them through the buzzer warning sounds. Based on these results, the developed system can function as a portable and simple prototype of an indoor navigation assistive device that does not rely on a camera or internet connection.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kata Kunci: tunanetra, navigasi indoor, ESP32, sensor ultrasonik HC-SR04, median filtering, buzzer, aplikasi seluler. Keywords: visually impaired, indoor navigation, ESP32, HC-SR04 ultrasonic sensor, median filtering, buzzer, mobile application.
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science. EDP
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	Sila Ulfania
Date Deposited:	10 Jul 2026 07:52
Last Modified:	10 Jul 2026 07:52
URI:	http://repository.its.ac.id/id/eprint/134634

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