Implementasi metode wall following berbasis kinect untuk robot mobile

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. =================================================================================================== 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: https://repository.its.ac.id/id/eprint/71081

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