Penerapan Contour Detection dengan Pengontrol PID pada Robot Line Follower

MIGUEL TANUJAYA, RAFAEL PATRICK, HANS SEBASTIAN, FAISAL WAHAB

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ABSTRAK

Sebuah robot line follower harus mampu mendeteksi garis dan bergerak mengikuti garis tersebut. Warna garis dan lantai yang tidak begitu kontras satu sama lain cukup sulit untuk dibedakan. Salah satu sensor yang dapat digunakan pada kasus tersebut adalah kamera. Dengan memanfaatkan pengolahan citra, robot dapat mengenali garis yang perlu diikuti. Untuk menghasilkan sistem line following yang konsisten dan rendah error, digunakan pengontrol PID yang bertujuan untuk menjaga posisi robot agar tetap pada lintasan yang diinginkan. Robot yang digunakan dalam penelitian ini adalah robot dengan empat roda mecanum. Perangkat keras yang digunakan meliputi kamera sebagai sensor utama, mikrokontroler Raspberry Pi 4 sebagai pusat pengolahan data dan pengendalian gerak motor. Hasil penelitian menunjukkan bahwa sistem line following yang dirancang memiliki rata-rata error posisi adalah 13,507%.

Kata kunci: line follower, pengolahan citra, contour detection, PID, mecanum

 

ABSTRACT

A line-following robot must be able to detect a line and move along it. Lines and floors with low contrast are challenging to distinguish. One sensor that can be used in this case is a camera. By utilizing image processing, the robot can recognize the line it needs to follow. To produce a consistent and low-error linefollowing system, a PID controller is employed to keep the robot on the desired path. The robot used in this study is a four-wheeled mecanum robot. The hardware includes a camera as the primary sensor and a Raspberry Pi 4 microcontroller for data processing and motor control. The research results show that the designed line-following system has an average position error of 13.507%.

Keywords: line follower, image processing, contour detection, PID, mecanum


Kata Kunci


line follower; pengolahan citra; contour detection; PID; mecanum

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v12i4.923

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