Implementasi autonomous navigation robot menggunakan global positioning system (GPS) untuk pemetaan kadar gas berbahaya

WIBOWO, ROBY ADI (2017) Implementasi autonomous navigation robot menggunakan global positioning system (GPS) untuk pemetaan kadar gas berbahaya. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Gas berbahaya hasil dari aktifitas alam maupun aktifitas manusia yang secara tidak sengaja muncul ke udara bebas dapat menimbulkan masalah yang serius. Keracunan massal pada suatu daerah dan ledakan pipa gas merupakan akibat dari adanya gas-gas berbahaya yang tidak terdeteksi sumber kemunculan dan penyebarannya. Penelitian ini mengimplementasikan Autonomous Navigation Robot yang dilengkapi dengan Global Positioning System (GPS) Ublox Neo M8 dan sensor gas TGS2600 untuk melakukan aktifitas pemetaan terhadap gas berbahaya pada suatu lokasi menggunakan aplikasi JAVA berbasis Google Map. Robot autonomous ini akan dikirim ke tempat-tempat yang beresiko terhadap paparan gas berbahaya, bekerja dengan panduan navigasi waypoint. Kemudian memberikan informasi tentang kadar gas serta lokasi robot berada. Hasil percobaan menunjukkan arah dan kecepatan angin melebihi 5 km/jam mempengaruhi kenaikan dan penurunan nilai pembacaan kadar gas, kesalahan kompas dalam memandu robot pada arah setpoint terbesar adalah 38%, dan kesalahan GPS dalam bernavigasi menuju waypoint mulai dari 2,91 meter, 3,5 meter, dan 3,81 meter. Hasil implementasi ini menunjukkan bahwa Autonomous Navigation Robot yang dilengkapi dengan GPS Ublox Neo M8 dan sensor TGS 2600 dapat memetakan kadar gas suatu lokasi dengan keakuratan posisi di bawah 5 meter. ========================================================================================================== Hazardous gases that provided from the activity of natural and human activities that inadvertently emerge into the air can cause serious problems. Mass poisoning at an area and gas pipeline explosion was caused of the presence of undetected hazardous gases source of the emergence and spread. This study implements Autonomous Robot Navigation equipped with a Global Positioning System (GPS) Ublox Neo M8 and TGS2600 gas sensors for mapping activity of hazardous gas at a location using Google Map-based Java applications. The autonomous robot will be sent to places that are at risk of exposure to hazardous gases, working with waypoint navigation guidance. Then provide information about gas levels as well as the location of the robot is. The experimental results indicate the direction and the wind speed exceeds 5 km / h influence increases and decreases in the value of the gas concentration readings, compass errors in guiding the robot in the direction of the largest setpoint is 38%, and an error in the GPS navigating to the waypoint ranging from 2.91 meters, 3, 5 meters and 3.81 meters. The implementation results show that the Autonomous Robot Navigation incorporating GPS Ublox Neo M8 and TGS 2600 sensor can map a location with a gas content of precision positioning below 5 meters.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.832 2 Wib i-1 3100017069824
Uncontrolled Keywords: Autonomous Navigation Robot, Gas berbahaya, Global Positioning System, Sensor Gas TGS2600
Subjects: G Geography. Anthropology. Recreation > G Geography (General) > G109.5 Global Positioning System
G Geography. Anthropology. Recreation > G Geography (General) > G70.212 ArcGIS. Geographic information systems.
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: - ROBY ADI WIBOWO
Date Deposited: 25 Jan 2017 08:30
Last Modified: 02 Mar 2021 03:49
URI: https://repository.its.ac.id/id/eprint/2131

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