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Perancangan Robot Pengikut berbasis Visual dan Kontrol Logika Samar
Abstract
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
Â
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
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DOI: https://doi.org/10.26760/elkomika.v12i1.106
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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638
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Department of Electrical Engineering Institut Teknologi Nasional Bandung, Indonesia
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