Perancangan Robot Pengikut berbasis Visual dan Kontrol Logika Samar

ALI SADIYOKO, AVICENNA FAHRUNASA, TRIANA MUGIA RAHAYU

Sari


ABSTRAK

Pada penelitian ini dilakukan replikasi teknologi leader-follower (konvoi) pada sebuah purwarupa mobile robot. Purwarupa yang dibuat terdiri dari komponen perangkat keras, program pengolahan citra, dan sistem kontrol logika samar untuk sistem leader dan follower. Robot pengikut yang dirancang pada penelitian ini menggunakan mekanisme kemudi Ackermann, sehingga meniru perilaku pengemudian (steering) sebuah mobil roda 4 pada umumnya. Percobaan akan direkam dengan kamera dan dianalisis menggunakan program Python untuk mendapatkan nilai koordinat robot leader dan follower. Hasil percobaan menunjukkan bahwa purwarupa robot follower berhasil mengikuti robot di depannya dengan rata-rata jarak 11,79 cm pada jalur lurus dan 19,82 cm pada jalur berbelok.

Kata kunci: robot bergerak, robot pemimpin-pengikut, kemudi Ackermann, pengolahan citra, logika samar

 

ABSTRACT

In this research, the leader-follower (convoy) technology is replicated in mobile robot aimed to show the implementation of the technology to follow the target in front of it. This article described the designs and performance of a follower robot designs. The design contained hardware components, image processing program, and a fuzzy logic control algorithm for the leader and follower system. The follower robot designed in this research utilizes the Ackermann steering mechanism, which imitates the steering behavior of a typical 4-wheeled car. The experiment will be recorded with a camera and analyzed using Python program to obtain the coordinates of the leader and follower robots. The experimental results indicate that the prototype of the follower robot successfully follows the robot in front of it with an average distance of 11,79 cm on straight paths and 19,82 cm on curved paths.

Keywords: mobile robot, leader-follower robot, Ackermann steering, image processing, fuzzy logic control


Kata Kunci


Robot Bergerak; Robot Pemimpin-Pengikut; Kemudi Ackerman; Pengolahan Citra; Logika Samar

Teks Lengkap:

PDF

Referensi


Aarts, L., & Feddes, G. (2016). European Truck Platooning Challenge. In Proceedings of the HVTT14: International Symposium on Heavy Vehicle Transport Technology , (pp. 15-18).

Axelsson, J. (2017). Safety in Vehicle Platooning: A Systematic Literature Review. IEEE Transactions on Intelligent Transportation Systems, 18(5), 1033-1045.

Bengler, K., Dietmayer, K., Farber, B., Maurer, M., Stiller, C., & Winner, H. (2014). Three Decades of Driver Assistance Systems: Review and Future Perspectives. IEEE Intelligent Transportation Systems Magazine, 6(4), 6-22.

Bergenhem, C., Shladover, S., Coelingh, E., Englund, C., & Tsugawa, S. (2012). Overview of Platooning Systems. Proceedings of the 19th ITS World Congress, (pp. 1-7).

Castritius, S. M., Hecht, H., Möller, J., Dietz, C. J., Schubert, P., Bernhard, C., Morvilius, S., Haas, C. T. & Hammer, S. (2020). Acceptance of Truck Platooning by Professional Drivers on German Highways - A Mixed Methods Approach. Applied Ergonomics, 85, 103042.

Crneković, M., Zorc, D., & Kunica, Z. (2013). Mobile Robot Vision System for Object Color Tracking. CIM 2013: Computer Integrated Manufacturing and High Speed Machining Proceedings, (pp. 93 - 98).

Dewi, T., Wijanarko, Y., Risma, P., & Oktarina, Y. (2018). Fuzzy Logic Controller Design for Leader-Follower Robot Navigation. Proceedings of 2018 5th International Conference on Electrical Engineering, Computer Science and Informatics, (pp. 298-303).

Eichelberger, A. H., & McCartt, A. T. (2016). Toyota Drivers' Experiences with Dynamic Radar Cruise Control, Pre-Collision System, and Lane-Keeping Assist. Journal of Safety Research, 56, 67 - 73.

Hendi, S. H., & Mohammed, F. G. (2016). Robotic System for Tracking Moving Objects Based On Their Color. Iraqi Journal of Science, 1833 - 1845.

Janssen, G. R., Zwijnenberg, J., Blankers, I. J., & De Kruijff, J. S. (2015). Truck Platooning: Driving the future of transportation. Retrieved from https://repository.tno.nl/islandora/object/uuid%3A778397eb-59d3-4d23-9185-511385b91509.

Johansson, J., & Schröder, J. (2016). Automated Vehicle Follower System Based on a Monocular Camera. (Dissertation KTH Royal Institute of Technology, Stockholm, Swedia). Retrieved from https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-192305

Kamali, M. Z. M., Kumaresan, N., & Ratnavelu, K. (2017). Takagi–Sugeno Fuzzy Modelling of Some Nonlinear Problems Using Ant Colony Programming. Applied Mathematical Modelling, 48, 635-654.

Kosheleva, O., & Kreinovich, V. (2018). Why Triangular Membership Functions Are Often Efficient in F-Transform Applications: Relation to Probabilistic and Interval Uncertainty and to Haar Wavelets. Proceedings of 17th International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems. (pp. 127-138).

Li, J., Yang, L., Qu, Y., & Sexton, G. (2018). An Extended Takagi–Sugeno–Kang Inference System (Tsk+) with Fuzzy Interpolation and Its Rule Base Generation. Soft Computing, 22, 3155 - 3170.

Luo, W., Xiao, Z., Ebel, H., & Eberhard, P. (2019). Stereo Vision-based Autonomous Target Detection and Tracking on an Omnidirectional Mobile Robot. ICINCO, (pp. 268 -275).

Matheson, R. (2019). Study Measures How Fast Humans React to Road Hazards. MIT News.

Mordvintsev, A., & Abid, K. (2014). Opencv-python tutorials documentation. Retrieved from https://opencv24-python-tutorials.readthedocs.io/ _/downloads/en/stable/pdf/.

Panduru, K. K., Riordan, D., & Walsh, J. (2014). Fuzzy Logic Based Intelligent Energy Monitoring and Control for Renewable Energy. ISSC 2014/CIICT 2014, (pp. 96 - 101)

Pangestu, I.E.A. (2020). Rancangan Bangun Robot Bergerak dengan Sistem Kemudi Ackermann dan Penggerak Roda Belakang Differensial. [Tugas Akhir. Jurusan Teknik Elektro] Universitas Katolik Parahyangan.

Popov, V., Ostarek, M., & Tenison, C. (2018). Practices and Pitfalls in Inferring Neural Representations. NeuroImage, 174, 340 - 351.

Sadollah, A. (2018). Introductory Chapter: Which Membership Function is Appropriate in Fuzzy System?. In A. Sadollah (Ed.), Fuzzy Logic Based in Optimization Methods and Control Systems and Its Applications. IntechOpen. Retrieved from https://www.intechopen.com/chapters/62600.

Soni, A., & Hu, H. (2018). Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey. Robotics, 7(4), 67.

Wang, H., Li, R., Gao, Y., Cao, C., Ge, L., & Xie, X. (2019). Target Recognition and Localization of Mobile Robot with Monocular PTZ Camera. Journal of Robotics, 2019, 1 - 12.




DOI: https://doi.org/10.26760/elkomika.v12i1.106

Refbacks

  • Saat ini tidak ada refbacks.


_______________________________________________________________________________________________________________________

ISSN (cetak) : 2338-8323 | ISSN (elektronik) : 2459-9638

diterbitkan oleh :

Teknik Elektro Institut Teknologi Nasional Bandung

Alamat : Gedung 20 Jl. PHH. Mustofa 23 Bandung 40124

Kontak : Tel. 7272215 (ext. 206) Fax. 7202892

Surat Elektronik : jte.itenas@itenas.ac.id________________________________________________________________________________________________________________________

Statistik Pengunjung

Free counters!

Web Analytics Made Easy - StatCounter

Lihat Statistik Jurnal

Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.

Creative Commons License