Sistem Pengereman Otomatis Pada Miniatur Mobil Otonom Menggunakakn Kamera Dan LiDAR

Ghifari, Muhamad Setyo Zaki (2023) Sistem Pengereman Otomatis Pada Miniatur Mobil Otonom Menggunakakn Kamera Dan LiDAR. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Mobil otonom memerlukan sistem pengamanan untuk menjaga keamanan penumpang mobil otonom maupun pengguna jalan lain. Salah satu sisem pengamanan yang paling penting pada mobil otonom yaitu sistem pengereman. Pada tugas akhir ini, dibuat sistem pengereman otomatis yang diterapkan pada mobil miniatur. Pembuatan sistem pengereman pada mobil miniatur dilakukan dengan alat dan bahan yaitu TFmini LiDAR dengan kapabilitas pengukuran jarak minimal sejauh 3cm dan jarak maksimal sejauh 12m, Arduino UNO, Motor Driver L293D, TT Motor, USB UVC WebCam, Opto Coupler Encoder, dan Motor Servo SG90. Dalam penelitian ini pembuatan sistem pengereman dilakukan dengan melakukan pendeteksian manusia menggunakan YOLO dan pengukuran jarak menggunakan LiDAR. Pada penelitian ini, untuk mengidentifikasikan manusia, dilakukan training data berupa pengambilan gambar penyebrang jalan di lingkungan kawasan ITS. Miniatur mobil melakukan pengerean pada saat kamera mendeteksi manusia, pada jarak 150cm mobil miniatur mulai melakukan pengereman, dan kecepatan mencapai 0m/s pada jarak 20cm. Selama proses pengereman, persentase pendeteksian manusia mengalami kenaikan dan penurunan yang diperkirakan terjadi karena tidak stabilnya kamera pada saat miniatur mobil berjalan. Persentase pendeteksian paling tinggi yaitu 86% dan paling rendah 56%, meskipun demikian tidak ada objek lain yang terdeteksi sebagai manusia selama pengambilan data
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Autonomous cars require a security system to maintain the safety of autonomous car passengers and other road users. One of the most important security systems in an autonomous car is the braking system. In this final project, an automatic braking system is created which is applied to a miniature car. The braking system for miniature cars is made using tools and materials, namely TFmini LiDAR with the capability of measuring a minimum distance of 3cm and a maximum distance of 12m, Arduino UNO, L293D Motor Driver, TT Motor, USB UVC WebCam, Opto Coupler Encoder, and SG90 Servo Motor. In this study, the braking system was made by detecting humans using YOLO and measuring distances using LiDAR. In this study, to identify humans, data training was carried out in the form of taking pictures of pedestrians crossing the ITS area. The miniature car is braking when the camera detects a human, at a distance of 150cm the miniature car starts braking, and the speed reaches 0m/s at a distance of 20cm. During the braking process, the percentage of human detection increases and decreases which is expected to occur due to the camera's instability when the miniature car is running. The highest percentage of detection was 86% and the lowest was 56%, although no other objects were detected as humans during data collection

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Mobil Miniatur, Pendeteksian Manusia, Sistem Pengereman Otomatis.Automatic Brake System, Human Detection, Miniature Car.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhamad Setyo Zaki Ghifari
Date Deposited:	03 Feb 2023 08:49
Last Modified:	03 Feb 2023 08:49
URI:	http://repository.its.ac.id/id/eprint/96141

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