Rohmadin, Novem Ardan (2015) Implementasi metode wall following berbasis kinect untuk robot mobile. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Navigasi robot mobile merupakan cara dalam mengatur gerakan
robot mobile. Pada robot dengan tugas khusus seperti robot pencari
benda berbahaya yang digerakkan otomatis di dalam ruangan, robot
membutuhkan sistem navigasi yang mampu mengatur gerakan robot
untuk menyusuri ruangan. Metode wall following adalah suatu metode
dalam sistem navigasi robot mobile yang dapat digunakan untuk
kebutuhan tersebut. Pada metode tersebut, robot akan bergerak
berdasarkan jarak dari dinding di sebelah robot. Sehingga, robot
membutuhkan sensor jarak yang akurat.
Pada tugas akhir ini, dibuat suatu rancangan yang berjudul
Implementasi Metode Wall Following berbasis Kinect untuk Robot
Mobile
input sensor jarak. Kinect merupakan kamera RGB-D buatan Microsoft.
Piksel kedalaman yang dihasilkan kinect dapat diolah untuk
menavigasikan robot mobile.
Dalam tugas akhir ini, robot akan menelusuri ruangan menggunakan
kinect sebagai input jarak, rotari enkoder dan sensor kompas untuk
menunjukkan posisi robot. Robot akan terus menelusuri ruangan dengan
mengambil referensi jarak dinding di sebelah kiri hingga user
menghentikan gerakan robot melalui remote kontrol. Pengujian
dilakukan dengan menjalankan robot secara otomatis di dalam suatu
ruangan. Ruangan akan diberi halangan untuk membagi ruangan
menjadi beberapa bagian. Dari pengujian, semakin banyak penambahan
halangan untuk membagi ruangan, maka kemampuan telusur robot akan
berkurang. Berdasarkan pengamatan dari pengujian pada ruang uji yang
didesain, sistem yang dirancang memiliki error rata-rata 7,33% terhadap
kemampuan robot dalam memasuki bagian ruangan. Lebar celah
ruangan menjadi faktor kegagalan robot dalam memasuki bagian
ruangan.
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Mobile robot navigation is a way to control the movement of the
mobile robot. Robot with special task like dangerous objects searching
in the room, robot needs a navigation system that is able to control the
movement of the robot to explore the room. Wall-following method is a
method in mobile robot navigation system that can be used for such
needs. In this method, the robot will move based on the distance from
the wall next to the robot. Therefore, robot requires accurate distance
sensor.
In this final project, made a research entitled "Implementation of
Wall Following Method based on Kinect . The system
is designed utilizing kinect camera as a sensor input range. Kinect is an
RGB-D camera made by Microsoft. The resulting pixel depth kinect can
be processed to navigate a mobile robot.
In this final project, the robot will explore the room using kinect as
an input range, rotary encoders and sensor compass to indicate the
position of the robot. In automatic mode, robot will continue to explore
the room by taking reference wall to the left until the user stops the
movement of the robot using remote control. Testing is done by running
the robot automatically in a closed room. The room will be an obstacle
to divide the room into sections. From the test, the more additional
obstacle to divide the room, the search capabilities of robots will be
reduced. Based on observations from the testing in test room designed,
the system have an average error of 7,33% against the robot's ability to
enter the sections of the room. The gap width of the room becomes a
factor in the failure of a robot entered the room.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 005.269 Roh i |
| Uncontrolled Keywords: | Kinect; robot mobile; navigasi |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | - Taufiq Rahmanu |
| Date Deposited: | 09 Oct 2019 07:06 |
| Last Modified: | 09 Oct 2019 07:06 |
| URI: | http://repository.its.ac.id/id/eprint/71081 |
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