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DAFTAR xiii DAFTAR ISI HALAMAN JUDUL .....i LEMBAR PENGESAHAN .....ii PERNYATAAN KEASLIAN

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Text of DAFTAR xiii DAFTAR ISI HALAMAN JUDUL .....i LEMBAR PENGESAHAN .....ii PERNYATAAN KEASLIAN

  • 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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    DAFTAR TABEL

    Tabel 2.1 : Fungsi Pin-Pin Pada IC L298. .............................................................. 9

    Tabel 4.1 : Pengujian Program Pengolahan Ci

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