ANALISIS PERFORMA SISTEM PELACAKAN ROBOT BERODA BERBASIS ROTARY ENCODER DENGAN MIKROKONTROLER ARDUINO
DOI:
https://doi.org/10.30659/Kata Kunci:
Robot Beroda, Rotary Encoder, Arduino, LabVIEW, Odometri, Lokalisasi, Sistem PelacakanAbstrak
This study presents a performance analysis of a wheeled robot tracking system utilizing rotary encoders for position and orientation sensing. The system, built around an Arduino Uno microcontroller, is designed to provide real-time location mapping and trajectory tracking. The research addresses the challenge of accurate indoor robot navigation by integrating data from two rotary encoders mounted on the robot's wheels. The methodology involves developing an odometry algorithm to calculate the robot's position based on wheel rotations. The data, including distance, speed, and heading, is then transmitted to a computer for visualization and control via a LabVIEW graphical user interface. Experimental results demonstrate the system's ability to effectively track the robot's path, with detailed performance metrics analyzed to evaluate accuracy and precision under various movement conditions. The findings indicate that the system provides a reliable and cost-effective solution for basic mobile robot localization, laying the groundwork for more complex autonomous navigation applications
Referensi
[1] C. B. Dewa, C. Christiand, A. D. Soewono, and M. Darmawan, “Rancang Bangun Sistem Informasi Posisi Untuk Robot Beroda Berbasis Rotary Encoder dan GPS Receiver,” Cylind. J. Ilm. Tek. Mesin, vol. 7, no. 2, pp. 11–19, 2021, [Online]. Available: https://ejournal.atmajaya.ac.id/index.php/cylinder/article/view/3982
[2] T. A. Putra, M. Muliady, and D. Setiadikarunia, “Navigasi Indoor Berbasis Peta pada Robot Beroda dengan Platform Robot Operating System,” Jetri J. Ilm. Tek. Elektro, vol. 17, no. 2, pp. 121–144, 2020, doi: 10.25105/jetri.v17i2.5447.
[3] A. J. Tamamy, Z. Arifin, B. K. Zulfika, W. Alfani, W. S. Gunawan, and F. Teknik, “Pemetaan Ruangan pada Robot Beroda Menggunakan Sensor LiDAR,” Appl. Ind. Eng. J., vol. 7, no. 1, pp. 9–16, 2023, [Online]. Available: http://publikasi.dinus.ac.id/index.php/aiej/index
[4] F. Irsyadi, J. Hendry, P. M. Rafief, and A. B. Sasongko, “Perancangan Low-Cost Testbed Untuk Validasi Lokasi dan Orientasi Mobile Robot,” Teknika, vol. 13, no. 1, pp. 65–70, 2024, doi: 10.34148/teknika.v13i1.714.
[5] M. Aliff et al., “Development of Pipe Inspection Robot using Soft Actuators, Microcontroller and LabVIEW,” Int. J. Adv. Comput. Sci. Appl., vol. 13, no. 3, pp. 349–354, 2022, doi: 10.14569/IJACSA.2022.0130343.
[6] D. S. Pongoh, M. Budiman, D. Kantohe, and V. Lumentut, “Implementasi Software LabVIEW untuk Mendukung Sistem Smart Home Berbasis Mikrokontroler,” Pros. Ind. Res. Work. Natl. Semin., vol. 12, pp. 394–400, 2021, [Online]. Available: https://jurnal.polban.ac.id/ojs-3.1.2/proceeding/article/view/2725
[7] A. Rachmawan, “Penentuan Posisi Robot Sepak Bola Beroda Menggunakan Rotary Encoder dan Kamera,” Tugas Akhir ITS, vol. 4, no. November, pp. 172–176, 2017, [Online]. Available: http://repository.its.ac.id/44447/%0Ahttps://repository.its.ac.id/41995/%0Ahttps://repository.its.ac.id/41995/1/2213106021-Undergraduate-Thesis.pdf
[8] M. Muqorrobin, “Rancang Bangun Pengendalian Robot Beroda Berbasis Arduino Menggunakan Komunikasi Wireless,” JTET (Jurnal Tek. Elektro Ter., pp. 143–148, 2016, [Online]. Available: https://jurnal.polines.ac.id/index.php/jtet/article/view/73
[9] M. J. C. Manullang, M. K. D. Hardhienata, and K. Priandana, “Kendali Robot Beroda Otonom dengan Inverse Kinematics,” J. Ilmu Komput. dan Agri-Informatika, vol. 7, no. 1, pp. 62–73, 2020, doi: 10.29244/jika.7.1.62-73.
[10] Hanif Fata Mustaqiim, “Rancang Bangun Sistem Pemantauan Pergerakan Tanah Menggunakan SensorRotary Encoder, Mikrokontroler ESP32, Modul RF 915MHZ Dan Tampilan BerbasisPython,” pp. 1–80, 2022, [Online]. Available: https://digilib.uin-suka.ac.id/id/eprint/51036/1/17106020033_HANIF_FATA_MUSTAQIIM_FULLTEXT.pdf
[11] Marcus Gunadi and Lawrence Adi Supriyono, “Konsep Serial Komunikasi Antar Bluethoot Sebagai Master Dan Slave Untuk Bertukar Informasi Digital,” Elkom J. Elektron. dan Komput., vol. 12, no. 2, pp. 59–62, 2019, doi: 10.51903/elkom.v12i2.101.
[12] S. Pramono, “Pengendalian Robot Beroda Berbasis Arduino Uno R3 Menggunakan Koneksi Bluetooth,” J. Inform. SIMANTIK, vol. 1, no. 1, pp. 12–18, 2016.
[13] T. Tugino, A. Ardityawan, O. Yuliani, A. Asniar, and A. Basuki, “Application of Embedded Hardware Device NI myRIO 1900 as a Control Unit for Miniature Mixing Plant,” 2021, doi: 10.4108/eai.30-8-2021.2311523.
[14] National Instruments, “NI myRIO-1900 User Guide and Specifications - National Instruments; NI myRIO-1900 User Guide and Specifications - National Instruments,” 2023.
[15] S. Triyani, “Kendali Kecepatan Motor DC Berbasis Fuzzy Setting Point pada Labview,” J. Appl. Electr. Eng., vol. 2, no. 1, pp. 6–11, 2018, doi: 10.30871/jaee.v2i1.1076.
[16] M. M. Przybylski, “Book Review: Electronic Instrumentation and Measurement Techniques,” 1986. doi: 10.1177/002072098602300107.
[17] M. Rosidi, Metode numerik menggunakan R untuk teknik lingkungan. 2019. [Online]. Available: https://bookdown.org/moh_rosidi2610/Metode_Numerik/
[18] Y. Malik, “Akurasi dan Presisi Analisis Kadar Nikel (Ni) pada Sampel Nikel Laterit Menggunakan X-Ray Fluorescence Spectometry (XRF),” Sains J. Kim. dan Pendidik. Kim., vol. 12, no. 2, pp. 87–94, 2024, doi: 10.36709/sains.v12i2.47.
[19] S. Garudeswaran, S. Cho, I. Ohu, and A. K. Panahi, “Implementasi Aplikasi Arduino Ide Pada Mata Kuliah Sistem Digital,” Minim. Invasive Surg., vol. 2018, no. April, 2018, doi: 10.1155/2018/4815761
Unduhan
Diterbitkan
Terbitan
Bagian
Lisensi
Hak Cipta (c) 2025 Siratullah Bahtiar Ahmad, Kiki Mukhlis (Author)
Artikel ini berlisensi Creative Commons Attribution 4.0 International License.
Lisensi. Artikel di PULSE—JEIB dipublikasikan secara akses terbuka di bawah Creative Commons Atribusi 4.0 Internasional (CC BY 4.0). Lisensi ini mengizinkan penggunaan, berbagi, adaptasi, distribusi, dan reproduksi dalam media apa pun dengan memberikan kredit yang layak kepada penulis dan sumber, mencantumkan tautan lisensi, serta menandai jika ada perubahan.
Hak Cipta. Hak cipta tetap pada penulis; jurnal memegang hak publikasi pertama. Penerbit dapat mengarsipkan dan mengindeks versi terbit beserta metadata pada layanan tepercaya (mis. Crossref, PKP PN/LOCKSS/CLOCKSS).
Biaya. APC: no fee (tanpa biaya pengajuan maupun pemrosesan).
