Rancang Bangun Prototype Follower Cargo Cart with Obstacle Avoider Berbasis Arduino Uno

Aprilliyan Manuel Sudiro, Marson Ady Putra, Erry Yadie

Abstract

Cargo Cart merupakan alat yang dapat digunakan untuk mengangkut barang dalam jumlah yang banyak seperti mobil kargo pada umumnya, namun dalam bentuk prototype yang lebih kecil. Alat ini dirancang agar dapat bekerja seperti follower, yang artinya Cargo Cart akan bergerak mengikuti objek yang ada di depannya apabila terdeteksi pada rentang jarak tiga buah sensor ultrasonik yang disematkan pada bagian depan Cargo Cart. Penelitian ini membedah bagaimana karakteristik ketiga sensor ultrasonik tersebut dan menganalisis setiap hasil pembacaan sensornya. Sensor ultrasonik diuji untuk mengetahui apakah jarak yang terbaca sesuai dengan pengukuran mistar dan kemudian membandingkan hasil ketiga pengukuran jarak sensor tersebut. Sensor ultrasonik diatur pada sudut kemiringan 20° agar mampu membaca objek yang lebih tinggi, dengan masing masing nilai eror pembacaan jarak dibawah 10% pada jarak 400 cm untuk sensor kiri, 250 cm untuk sensor tengah dan 350 cm untuk sensor kanan. Persentase eror tertinggi sensor kiri mencapai 16,67% pada jarak 450 cm, sensor tengah 83,53% pada jarak 500 cm dan sensor kanan 73,93% pada jarak 400 cm. Dari parameter tersebut, sensor dipasang pada Cargo Cart agar mendapatkan posisi yang terbaik untuk membaca objek yang ada di depannya. Terlihat dari hasil pengujian yang telah dilakukan, Cargo Cart dapat bekerja sesuai dengan tujuannya, yaitu mengikuti objek yang ada di depannya, bermanuver ke kiri dan kanan, serta berhenti bergerak dan membunyikan buzzer ketika obstacle avoider mendeteksi adanya suatu penghalang

Keywords

Sensor ultrasonik, Cargo Cart, objek, obstacle avoider, Arduino Uno, follower

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References

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