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Transcript of TUGAS AKHIR RASPBERRY PI SEBAGAI CONTROLLER · PDF fileraspberry pi sebagai controller pada...

  • TUGAS AKHIR

    RASPBERRY PI SEBAGAI CONTROLLER

    PADA UNMANNED GROUND VEHICLE

    (UGV)

    Disusun Oleh:

    FAUZI KURNIAWAN SOPLESTUNY

    (09560159)

    FAKULTAS TEKNIK

    JURUSAN TEKNIK INFORMATIKA

    UNIVERSITAS MUHAMMADIYAH MALANG

    2015

  • KATA PENGANTAR

    Assalamualaikum Wr. Wb

    Dengan memanjatkan puji syukur kehadirat Allah SWT, Atas limpahan

    rahmat dan hidayah-Nya sehingga peneliti dapat menyelesaikan tugas akhir yang

    berjudul:

    RASPBERRY PI SEBAGAI CONTROLLER PADA UNMANNED

    GROUND VEHICLE (UGV

    Peneliti menyadari sepenuhnya bahwa dalam penulisan tugas akhir ini

    masih banyak kekurangan dan keterbatasan. Oleh karena itu peneliti

    mengharapkan saran yang membangun agar tulisan ini bermanfaat bagi

    perkembangan ilmu pengetahuan kedepan.

    Akhir kata penulis mengucapkan terima kasih kepada semua pihak yang

    telah membantu sehingga tugas akhir ini terselesaikan

    Wassalamualaikum Wr. Wb.

    Malang 19 Oktober 2015

    Penulis

    Fauzi Kurniawan Soplestuny

  • DAFTAR ISI

    LEMBAR PERSETUJUAN .......................................................................... ii

    LEMBAR PENGESAHAN .......................................................................... iii

    LEMBAR PERNYATAAN .......................................................................... iv

    LEMBAR PERSEMBAHAN ....................................................................... vi

    ABSTRAK ................................................................................................... viii

    ABSTRACT ................................................................................................... ix

    KATA PENGANTAR .................................................................................... x

    DAFTAR ISI .................................................................................................. xi

    DAFTAR GAMBAR ................................................................................... xiv

    DAFTAR TABEL ....................................................................................... xvi

    BAB I PENDAHULUAN ............................................................................... 1

    1.1. Latar Belakang .................................................................................... 1

    1.2. Rumusan Masalah ............................................................................... 1

    1.3. Tujuan Penelitian ................................................................................ 1

    1.4. Batasan Masalah ................................................................................. 2

    1.5. Metodologi Penelitian ......................................................................... 2

    1.6. Sistematika Penulisan ......................................................................... 3

    BAB II LANDASAN TEORI ........................................................................ 4

    2.1. UGV (Unmanned Ground vehicle) .................................................... 4

    2.1.1. Sensor ....................................................................................... 4

    2.1.2. Platform .................................................................................... 4

    2.1.3. Control ...................................................................................... 4

    2.1.4. Human Machine Interface (Antar Muka Manusia Mesin) ....... 4

    2.1.5. Communication ........................................................................ 4

    2.1.6. System Integration .................................................................... 5

  • 2.2. Single Board Computer Raspberry Pi ................................................ 5

    2.2.1. GPIO (General Purpose Input Output) ..................................... 6

    2.3. IC L293D Motor Driver ..................................................................... 7

    2.3.1. Konstruksi Pin Driver Motor DC IC L293D ............................ 7

    2.3.2. Fungsi Pin Driver Motor DC IC L293D................................... 7

    2.3.3. Fitur Driver Motor DC IC L293D ............................................ 7

    2.4. Bahasa Pemrograman Python ............................................................ 8

    2.5. Konsep Sreaming ............................................................................... 8

    2.5.1. Video Streaming ....................................................................... 9

    2.5.2. Protokol Streaming ................................................................... 9

    2.6. MJPG Streamer ................................................................................ 10

    2.7. Jaringan Komputer Tanpa Kabel / Wireless LAN ........................... 10

    2.7.1. Jaringan Wireless.................................................................... 10

    2.7.2. Topologi Jaringan Wireless .................................................... 11

    BAB III ANALISA DAN PERANCANGAN SISTEM ............................. 14

    3.1. Analisa Sistem .................................................................................. 12

    3.1.1. Skema Rancangan UGV ........................................................... 12

    3.1.2. Skema Mekanik ........................................................................ 12

    3.1.2.1 Gerak Maju ................................................................. 13

    3.1.2.2 Putar Kiri .................................................................... 13

    3.1.2.3 Putar Kanan ................................................................ 13

    3.1.2.4 Gerak Mundur ............................................................. 14

    3.1.2 Skema Live Streaming .............................................................. 14

    3.2. Perancangan Sistem .......................................................................... 14

    3.2.1. Kebutuhan Hardware ................................................................ 14

    3.2.1.1 Raspberry Pi 2 Type B .................................................. 14

    3.2.1.2 150Mbps USB Wifi Ralink RT5370 Chip .................... 15

    3.2.1.3 Raspberry Pi Camera Modul ......................................... 16

    3.2.1.4 Dagu Multi Chasis Tank Version.................................. 16

    3.2.1.5 Baterei Li-Ion 18650 3400 mAh 3.7v ........................... 18

    3.2.1.6 IC L293D Motor Driver ................................................ 18

  • 3.2.1.7 Regulator MP1584 Step Down ..................................... 18

    3.2.2. Kebutuhan Software ................................................................. 19

    3.2.2.1 WebIOPi........................................................................ 19

    3.2.2.2 Mjpg Streamer............................................................... 20

    3.2.3. Perancangan Hardware ............................................................. 20

    3.2.3.1.Raspberry Pi .................................................................. 21

    3.2.3.2.IC L293D ...................................................................... 21

    3.2.3.3.DC Motor ...................................................................... 21

    3.2.3.4.Power Supply ................................................................ 22

    3.2.3.5.Regulator ....................................................................... 22

    3.2.3.6.USB Wifi....................................................................... 22

    3.2.3.7.Modul Camera............................................................... 22

    3.2.4. Perancangan Software ............................................................... 22

    3.2.4.1 Perancangan Software Pada Raspberry Pi .................... 23

    3.2.4.2 Perancangan Halaman Interface .................................... 23

    3.2.5. Perancangan Koneksi Antar Perangkat ..................................... 23

    BAB IV IMPLEMENTASI DAN PENGUJIAN APLIKASI ................... 26

    4.1. Implementasi ..................................................................................... 26

    4.1.1. Implementasi Hardware ........................................................... 26

    4.1.1.1 Proses Perakitan ............................................................ 26

    4.1.2. Implementasi Software ............................................................. 28

    4.1.2.1 Penginstalan Dan Konfigurasi ...................................... 28

    4.1.2.1.1 WebIOPi ......................................................... 28

    4.1.2.1.2 Mjpg Streamer ................................................ 30

    4.1.2.2 Pemrograman ................................................................ 31

    4.1.2.3 Halaman Interface ......................................................... 35

    4.1.3. Implementasi Koneksi Antar Perangkat ................................... 37

    4.1.3.1 Sinkronisasi Antar Perangkat ............................ 39

    4.2. Pengujian Sistem ............................................................................... 40

    4.2.1. Mekanik Gerak ......................................................................... 40

    4.2.2. Daya Tahan ............................................................................... 41

  • 4.2.3. Real Time Streaming ................................................................ 41

    4.2.4. Jangkauan Koneksi ................................................................... 41

    BAB V KESIMPULAN D