xiii
DAFTAR ISI
HALAMAN JUDUL ............................................................................................. i
LEMBAR PENGESAHAN .................................................................................. ii
PERNYATAAN KEASLIAN & PERSETUJUAN PUBLIKASI TA .............iii
KATA PENGANTAR / UCAPAN TERIMAKASIH ......................................... ii
ABSTRAK ............................................................................................................. ii
ABSTRACT ........................................................................................................... ii
DAFTAR ISI .......................................................................................................... ii
DAFTAR GAMBAR .............................................................................................. i
DAFTAR TABEL ................................................................................................... i
BAB I PENDAHULUAN ...................................................................................... 1
Latar Belakang ................................................................................. 1
Perumusan Masalah ......................................................................... 2
Tujuan Penelitian ............................................................................. 2
Manfaat Penelitian ........................................................................... 2
Batasan Penelitian ............................................................................ 2
Sistematika Penulisan ...................................................................... 3
BAB II TINJAUAN PUSTAKA ........................................................................... 5
2.1 Pengertian Robot .............................................................................. 5
Robot line follower ................................................................ 9
Robot Pendeteksi ................................................................. 10
Pengertian Software ....................................................................... 10
Pengertian Aplikasi/Software Geany Editor Teks ............... 10
Open CV .............................................................................. 12
Bahasa Pemrograman Python .............................................. 12
Pengertian Hardware ...................................................................... 13
2.2.1 Raspberry Pi ........................................................................ 13
Modul Pi Camera ................................................................ 15
Motor DC ............................................................................ 15
L298 Motor Driver .............................................................. 18
Pengertian Kabel Jumper .................................................... 18
Pengolahan Citra Digital ................................................................ 20
BAB III METODE PENELITIAN .................................................................... 25
Metode Penelitian .......................................................................... 25
Rancangan Penilitian ...................................................................... 25
Perancangan Sistem ....................................................................... 27
Blok Diagram Sistem .......................................................... 27
Perancangan Perangkat Lunak ....................................................... 28
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Flowchart ............................................................................. 28
Perancangan Perangkat Keras (Hardware) ..................................... 30
Rancang Raspberry Pi dengan Pi Camera ........................... 30
Rancang Driver Motor ........................................................ 30
Rancangan Keseluruhan Alat .............................................. 31
BAB IV HASIL DAN PEMBAHASAN ............................................................. 33
Proses ............................................................................................. 33
Implementasi Hardware ...................................................... 33
Implementasi Software ........................................................ 34
Pengujian Software ........................................................................ 34
Pengujian Program Pengolahan Citra .................................. 34
Pengujian Jarak Citra .......................................................... 35
Pengujian Lux ..................................................................... 36
Pengujian Hardware ....................................................................... 37
Pengujian Raspberry Pi 3 .................................................... 38
Pengujian Modul Kamera Raspberry Pi .............................. 39
Pengujian Motor Driver L298N .......................................... 39
Pengujian Keseluruhan .................................................................. 40
Pengujian Objek Pola Arah Panah ...................................... 40
BAB V KESIMPULAN DAN SARAN .............................................................. 51
5.1 Kesimpulan .................................................................................... 51
5.2 Saran .............................................................................................. 51
DAFTAR REFERENSI ...................................................................................... 53
LAMPIRAN ......................................................................................................... 55
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DAFTAR GAMBAR
Gambar 2.1 : Contoh Bentuk Robot. .................................................................... 6
Gambar 2.2 : Mobile robot ................................................................................... 7
Gambar 2.3 : Robot Manipulator. ........................................................................ 8
Gambar 2.4 : Robot Humanoid. .......................................................................... 10
Gambar 2.5 : Robot Berkaki ............................................................................... 11
Gambar 2.6 : Robot Line Follower. .................................................................... 13
Gambar 2.7 : Robot Pendeteksi . ......................................................................... 14
Gambar 2.8 : Tampilan Geany ............................................................................ 14
Gambar 2.9 : library OpenCV. ............................................................................ 15
Gambar 2.10 : Bahasa Pemrograman python. ....................................................... 17
Gambar 2.11 : Arsitektur Raspberry Pi Model B+. ............................................... 17
Gambar 2.12 : Peta Standart GPIO raspberry Pi mode; B+. ................................. 18
Gambar 2.13 : Pi Camera ...................................................................................... 18
Gambar 2.14 : Motor DC ...................................................................................... 19
Gambar 2.15 : IC Driver Motor L298. .................................................................. 20
Gambar 2.16 : Driver Motor L298N. .................................................................... 20
Gambar 2.17 : Kabel Jumper Male to Male. ......................................................... 21
Gambar 2.18 : Kabel Jumper Female to Female. .................................................. 21
Gambar 2.19 : Kabel Jumper Female to Male. ..................................................... 21
Gambar 2.20 : Pengolahan Citra Digital ............................................................... 24
Gambar 3.1 : Metode Penelitian. ......................................................................... 26
Gambar 3.2 : Blok Diagram Proses. .................................................................... 27
Gambar 3.3 : Flowchart Robot Pengikut Berdasarkan pola Arah Panah. ........... 28
Gambar 3.4 : Rancang Raspberry Pi dengan Pi Camera ..................................... 28
Gambar 3.5 : Rancang L298N dengan Raspberry Pi dan Batrai. ........................ 29
Gambar 3.6 : Rancang Keseluruhan Alat. ........................................................... 30
Gambar 4.1 : Komponen Setelah Dirangkai. ...................................................... 32
Gambar 4.2 : Raspberry menyala ketika diberi daya. ......................................... 33
Gambar 4.3 : Tampilan Awal Raspberry Pi. ....................................................... 34
Gambar 4.4 : Tampilan Stream Real-Time Modul Kamera Raspberry Pi .......... 38
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Halaman ini sengaja dikosongkan
xvii
DAFTAR TABEL
Tabel 2.1 : Fungsi Pin-Pin Pada IC L298. .............................................................. 9
Tabel 4.1 : Pengujian Program Pengolahan Ci
