Visual Perception Berbasis Camera Pixy Pada Robot Wall Follower
Keywords:
Wall follower, Robot, visual perceptionAbstract
Pada penelitian ini akan di bentuk perception pada robot wall follower berbasiskan data visual lingkungan sekitar robot yang didapat dari kamera Pixy CMUCam 5. Kamera Pixy CMUCam 5 menggunakan algoritma berbasis warna untuk mendeteksi benda-benda. Proses dilakukan pada development board Arduino Mega. Proses dimulai dengan meng-akuisisi data visual dari kamera pixy dengan sarana komunikasi SPI. Data yang didapat akan dilakukan proses normalisasi untuk mempermudah mendapatkan informasinya. Lingkungan robot dibuat berbentuk labirin sederhana dengan dinding berwarna putih dan terdapat objek berupa kertas karton yang berbentuk persegi sama sisi berwarna merah dan biru yang disusun sedemikian rupa. Susunan kertas karton yang berbentuk persegi sama sisi pada dinding ini akan memberikan informasi berupa lorong, belokan atau persimpangan. Dengan pengetahuan yang diberikan pada robot diharapkan robot mampu mengenali informasi pada labirin tersebut.References
Winarno and D. Arifianto, Bikin Robot Itu Gampang. Jakarta: PT. Kawan Pustaka, 2011.
Nofriyani, E. S. Ningrum, and M. I. Nugraha, "Rancang Bangun Robot Leader Dan Robot Follower Dengan Sistem Navigasi Sensor Infra Merah " Industrial Electronics Seminar 2011 (IES 2011) 2011.
T. Kobayashi, T. Yoshida, J. Maenishi, J. Imae, and G. Zhai. (2008). Automation And Robotics.
Z. Kowalczuk and D. Wesierski. (2008). Automation And Robotics.
D. Tresnawan and Meidi, "Implementasi Metode Maze Dan PID Pada Robot Vacum Cleaner Otomatis," Jurnal Ilmiah Mikrotek, vol. 1, pp. 164-174, 2015.
Y. Hasyim and A. R. Putri, "Implementasi Sistem Navigasi Robot Wall Following Dengan Metode Fuzzy Logic Untuk Robot Pemadam Api Divisi Berkaki Onix II Pada KRPAI Tahun 2017," Jurnal Ilmiah Penelitian dan Pembelajaran Informatika (JIPI), vol. 02, pp. 26-31, Mei 2017.
U. Sutisna, W. D. Siregar, and S. Nurhadiyono, "Penerapan Kendali Hybrid Logika Fuzzy PID Untuk Performansi Navigasi Robot Beroda Wall follower," Techno, vol. 17, pp. 079-087, 2016.
A. Azhar, K. D. K. W, and H. Subagiyo, "Perancangan Fuzzy Logic Sugeno Untuk Wall Tracking," Jurnal Elementer, vol. 1, 2015.
Nuryanto and A. Widiyanto, "Rancang Bangun Mobile Robot 2WD Dengan 2 Sensor Untuk Arah Belokan," Seminar Nasional Teknologi Informasi Dan Multimedia, 2016.
R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, "Introduction To Autonomous Mobile Robots," The MIT Press, p. 11, 2004.
K. D. Setyanto, I. Fibriani, and Sumardi, "Pengendalian Mobile Robot Vision Menggunakan Webcam Pada Objek Arah Panah Berbasis Raspi," Jurnal Arus Elektro Indonesia (JAEI), vol. 2, pp. 27-32, 2016.
A. P. W. Wibowo, "Implementasi Teknisi Computer vision Metode Colored Markers Trajectory Secara Real Time," Jurnal Teknik Informatika, vol. 8, pp. 38-42, 2016.
D. H. Ballard and C. M. Brown, Computer vision. New Jersey: Prentice Hall Inc., 1982.
Suwasono and I. D. W., "Optimasi Akurasi Deteksi Goal Gawang Dengan Metode Square Grid," Jurnal Pendidikan: Teori, Penelitian, Dan Pengembangan, vol. 2, pp. 341-349, 2017.
A. Deolika and B. A. R., "Rancang Bangun Robot Sepakbola Beroda Menggunakan Image Sensor.," Jurnal Teknik Informatika Dan Sistem Informasi, vol. 5, pp. 1173-1310, 2016.
Downloads
Published
Issue
Section
License
Copyright Transfer StatementThe copyright to this article is transferred to Seminar Nasional Ilmu Komputer Dan Teknologi Informasi (SAKTI) if and when the article is accepted for publication. The undersigned hereby transfers any and all rights in and to the paper including without limitation all copyrights to Seminar Nasional Ilmu Komputer Dan Teknologi Informasi (SAKTI) . The undersigned hereby represents and warrants that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required. The undersigned represents that he/she has the power and authority to make and execute this assignment.
We declare that:
- This paper has not been published in the same form elsewhere.
- It will not be submitted anywhere else for publication prior to acceptance/rejection by this Journal.
Furthermore, I/We hereby transfer the unlimited rights of publication of the above-mentioned paper in whole to Seminar Nasional Ilmu Komputer Dan Teknologi Informasi (SAKTI) . The copyright transfer covers the exclusive right to reproduce and distribute the article, including reprints, translations, photographic reproductions, microform, electronic form (offline, online) or any other reproductions of similar nature.
The corresponding author signs for and accepts responsibility for releasing this material on behalf of any and all co-authors. This agreement is to be signed by at least one of the authors who have obtained the assent of the co-author(s) where applicable. After submission of this agreement signed by the corresponding author, changes of authorship or in the order of the authors listed will not be accepted.
Retained Rights/Terms and Conditions
- Authors retain all proprietary rights in any process, procedure, or article of manufacture described in the Work.
- Authors may reproduce or authorize others to reproduce the Work or derivative works for the author’s personal use or for company use, provided that the source and the JIM copyright notice are indicated, the copies are not used in any way that implies Seminar Nasional Ilmu Komputer Dan Teknologi Informasi (SAKTI) endorsement of a product or service of any employer, and the copies themselves are not offered for sale.
- Although authors are permitted to re-use all or portions of the Work in other works, this does not include granting third-party requests for reprinting, republishing, or other types of re-use.
JIM by http://e-journals.unmul.ac.id/index.php/SAKTI/index is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
