Sistem Autodocking Mobile Robot Berbasis Suara Untuk Pengisian Ulang Baterai

Hidayanto, Ari (2018) Sistem Autodocking Mobile Robot Berbasis Suara Untuk Pengisian Ulang Baterai. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Siklus kerja autonomous mobile robot dirancang penuh untuk mampu berjalan dan bekerja secara kontinyu dengan lintasan yang sudah ditentukan oleh waypoint Global Positioning System (GPS) tanpa ada campur tangan manusia. Salah satu sistem yang cukup penting pada mobile robot untuk masalah tersebut adalah sistem autodocking yang digunakan ketika baterai dalam level rendah atau akan habis supaya kembali ke power station untuk mengisi ulang baterai. Dalam proses menuju power station diperlukan keakuratan mobile robot agar posisi antara transmitter dengan receiver baterai berada pada jarak transfer Wireless Power Transmision (WPT). Penelitian ini mengimplementasikan mobile robot yang dirancang menggunakan Arduino Mega 2560 sebagai kontrol utama sistem, GPS Ublox Neo M8N, modul kompas HMC5883L, modul mikrofon kondenser, modul HC-SR04, motor driver L298N dengan 4 buah motor DC, dan LCD. Sedangkan untuk sumber suara menggunakan speaker Polytron Muze (PSP B1) dengan suara sonar yang memiliki rentang frekuensi 900 Hz hingga 1100 Hz. Modul mikrofon ditempatkan pada sisi kanan dan kiri mobile robot dengan metode mencari arah sumber suara pada WPT berdasarkan different level intensity. Hasil pengujian penelitian ini menunjukkan mobile robot yang dirancang memiliki kemampuan menuju titik waypoint dengan error jarak posisi mencapai 6 meter. Penggunaan corong pengarah pada sensor suara memiliki efektifitas sudut directivity 90° dan -90° membuat sensor suara menjadi lebih sensitif. Sedangkan mobile robot dapat mendeteksi suara dan menuju ke sumber suara dengan efektifitas jarak kurang dari 100 cm yang memiliki waktu tempuh kurang dari 60 detik dengan tingkat keberhasilan 56,25%. ============= The autonomous mobile robot work cycle is fully designed to be able to run and work continuously with paths defined by the Global Positioning System (GPS) waypoint without any human intervention. One of the most important systems in the mobile robot for this problem is the autodocking system used when the battery is low or will run out to return to the power station to recharge the battery. In the process of going to the power station the accuracy of the mobile robot is required so that the position between the transmitter and the battery receiver is at the transfer distance of Wireless Power Transmission (WPT). This research implements mobile robot designed using Arduino Mega 2560 as the main control system, GPS Ublox Neo M8N, HMC5883L compass module, condenser microphone module, HC-SR04 module, L298N motor driver with 4 DC motor and LCD. As for the sound source using Polytron Muze speakers (PSP B1) with sonar sound that has a frequency range of 900 Hz to 1100 Hz. The microphone module is placed on the right and left sides of the mobile robot by the method of searching the direction of the sound source on the WPT based on different intensity levels. The result of this research shows that mobile robot designed has ability to point waypoint with error distance of position reaches 6 meters. The use of the pointing funnel of the sound sensor has an effectivity of 90° and -90° directivity angle makes the sound sensor more sensitive. While the mobile robot can detect sound and go to the sound source with the effectiveness of distance less than 100 cm which has travel time less than 60 seconds with success rate of 56,25%.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Autodocking, Mobile robot, Power Station, Sensor Suara, Sound Sensor
Subjects: Q Science > QC Physics > QC221 Acoustics. Sound
T Technology > T Technology (General)
T Technology > T Technology (General) > T174.5 Technology--Risk assessment.
T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL175 Parking facilities
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Electrical Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Ari Hidayanto
Date Deposited: 24 Oct 2018 02:16
Last Modified: 24 Oct 2018 02:16
URI: http://repository.its.ac.id/id/eprint/52858

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