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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

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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 DAN SARAN ....................................................... 43

5.1. Kesimpulan ....................................................................................... 43

5.2. Saran ................................................................................................. 43

DAFTAR PUSTAKA ................................................................................... 44

DAFTAR GAMBAR

Gambar 2.2.1 Raspberry Pi 2 Model B ............................................................ 5

Gambar 2.2.2 Port GPIO Raspberry Pi 2 Model B .......................................... 6

Gambar 2.3.1.1 Konstruksi Pin Driver Motor IC L293D ................................ 7

Gambar 2.4.1.1 Alur Kerja Proses Streaming Dalam Simulasi ....................... 9

Gambar 2.4.2.1 Hubungan Tiap Lapisan Protokol ........................................ 10

Gambar 3.1.1.1 Skema Rancangan UGV....................................................... 12

Gambar 3.1.2.1.1 Mekanik Gerak Maju ........................................................ 13

Gambar 3.1.2.1.2 Mekanik Putar Kiri ............................................................ 13

Gambar 3.1.2.1.3 Mekanik Putar Kanan ........................................................ 13

Gambar 3.1.2.1.4 Mekanik Gerak Mundur .................................................... 14

Gambar 3.1.3 Skema Live Streaming ............................................................ 14

Gambar 3.2.1.1.1 Raspberry Pi 2 Type B ...................................................... 15

Gambar 3.2.1.1.2 Pin GPIO ........................................................................... 15

Gambar 3.2.1.2.1 150Mbps USB Wifi Ralink RT5370 ................................. 15

Gambar 3.2.1.3.1 Raspberry Pi Camera Modul ............................................. 16

Gambar 3.2.1.4.1 Dagu Multi Chasis Kit ...................................................... 16

Gambar 3.2.1.4.2 Dagu Multi Chasis Kit Tank Version ................................ 17

Gambar 3.2.1.5.1 Baterei Li-Ion 18650 3400 mAh 3.7v. .............................. 18

Gambar 3.2.1.6.1 IC L293D Motor Driver .................................................... 18

Gambar 3.2.1.7.1 Regulator MP1584 Step Down ......................................... 19

Gambar 3.2.2.1.1 Tampilan WebIOPi ........................................................... 19

Gambar 3.2.2.2.1 Tampilan Mjpg Streamer .................................................. 20

Gambar 3.2.3.1 Perancangan Hardware ......................................................... 20

Gambar 3.2.4.1 Perancangan Software .......................................................... 22

Gambar 3.2.5.1 Perancangan Koneksi Antar Perangkat ................................ 23

Gambar 4.1.1.1.1 Pemasangan Regulator (Level 0) ...................................... 26

Gambar 4.1.1.1.2 Pemasangan Power Supply (Level 1)................................ 27

Gambar 4.1.1.1.3 Pemasangan Hardware (Level 3) ...................................... 27

Gambar 4..1.1.1.4 Pemasangan Body Penutup .............................................. 28

Gambar 4.1.2.1.1.1 Download WebIOPi ....................................................... 28

Gambar 4.1.2.1.1.2 Uncompress WebIOPi .................................................... 28

Gambar 4.1.2.1.1.3 Pindah ke Direktory WebIOPi ....................................... 29

Gambar 4.1.2.1.1.4 Setup WebIOPi ............................................................... 29

Gambar 4.1.2.1.1.5 Konfigurasi WebIOPi ..................................................... 29

Gambar 4.1.2.1.1.6 Set Pin GPIO OUT ......................................................... 29

Gambar 4.1.2.1.1.7 Set Default Script Path ................................................... 30

Gambar 4.1.2.1.1.8 Set Default Path Index.html ........................................... 30

Gambar 4.1.2.1.1.9 Start Service WebIOPi ................................................... 30

Gambar 4.1.2.1.1.10 Crontab ......................................................................... 30

Gambar 4.1.2.1.2.1 Install Dependencies ...................................................... 30

Gambar 4.1.2.1.2.2 Replace Video Header .................................................... 30

Gambar 4.1.2.1.2.3 Download Mjpg Streamer .............................................. 30

Gambar 4.1.2.1.2.4 Unzip .............................................................................. 31

Gambar 4.1.2.1.2.5 Build Mjpg Streamer ...................................................... 31

Gambar 4.1.2.1.2.6 Copy Mjpg Streamer ...................................................... 31

Gambar 4.1.2.1.2.7 Copy Plugin .................................................................... 31

Gambar 4.1.2.1.2.8 Copy Dir www ............................................................... 31

Gambar 4.1.2.1.2.9 Start Mjpg Streamer ....................................................... 31

Gambar 4.1.2.2.1 Motor Definition ............................................................... 32

Gambar 4.1.2.2.2 PWM Function .................................................................. 32

Gambar 4.1.2.2.3 Left_Stop ........................................................................... 32

Gambar 4.1.2.2.4 Left_Forward ..................................................................... 33

Gambar 4.1.2.2.5 Left Backward .................................................................. 33

Gambar 4.1.2.2.6 Right_Stop ......................................................................... 33

Gambar 4.1.2.2.7 Right _Forward ................................................................. 33

Gambar 4.1.2.2.8 Right_Backward ................................................................ 33

Gambar 4.1.2.2.9 Go_Forward ...................................................................... 34

Gambar 4.1.2.2.10 Go_Backward .................................................................. 34

Gambar 4.1.2.2.11 Turn_Left ........................................................................ 34

Gambar 4.1.2.2.12 Turn_Right ...................................................................... 34

Gambar 4.1.2.2.13 Stream.sh ......................................................................... 35

Gambar 4.1.2.3.1 Tombol Javascript ............................................................. 35

Gambar 4.1.2.3.2 Javascript Macro ............................................................... 36

Gambar 4.1.2.3.3 Konten Streaming .............................................................. 36

Gambar 4.1.2.3.4 Login Halaman Interface ................................................... 37

Gambar 4.1.2.3.5 Halaman Interface ............................................................. 37

Gambar 4.1.3.1 Install hostapd dan udhcpd ................................................... 38

Gambar 4.1.3.2 Set IP .................................................................................... 38

Gambar 4.1.3.3 Set IP static ........................................................................... 38

Gambar 4.1.3.4 Konfigurasi hostapd ............................................................. 39

Gambar 4.1.3.5 Start Service hostapd dan udhcpd ........................................ 39

Gambar 4.1.3.6 PING IP Ugv dari Client ...................................................... 39

Gambar 4.1.3.7 PING dari UGV ke Client .................................................... 40

DAFTAR TABEL

Tabel 3.3.1.1 Pengujian Mekanik Gerak ....................................................... 24

Tabel 3.3.3.1 Pengujian Real Time Streaming ............................................. 24

Tabel 3.3.4.1 Pengujian Jangkauan Koneksi ................................................ 25

Tabel 4.2.1.1 Pengujian Mekanik Gerak ....................................................... 40

Tabel 4.2.3.1 Pengujian Real Time Streaming ............................................. 41

Tabel 4.2.4.1 Pengujian Jangkauan Koneksi ................................................ 41

DAFTAR PUSTAKA

[1] Phuoc-Nguyen Nguyen-Huu and Jhosua Titus, Reliability and Failure in

Unmanned Ground Vehicle, 2009, Hal. 5.

[2] Rosch L. Winn, Hardware Bible 5th Edition, 1999.

[3] https://www.raspberrypi.org/products/raspberry-pi-2-model-b (Diakses pada 2

Oktober 2015, 12.50 AM ).

[4] Hakim Malik Abdillah, Pemanfaatan Mini PC Raspberry Pi Sebagai Pengontrol

Jarak Jauh Berbasis Web Pada Rumah, 2013.

[5] Texas Instruments, Quadruple Half-H Drivers, 2004.

[6] Rosmala Dewi, Pembangunan Website Content Monitoring System

Menggunakan Difflib Python, 2012.

[7] Yustini, Video Streaming Dengan VideoLAN Project, 2009.

[8] Permana Fanny Nurindra, Analisa Kerja MPEG-4 Video Streaming Pada

Jaringan HSDPA, 2012.

[9] Srikanth V, Video Monitoring system based on ARM 9, 2012.

[10] Panagiotakis. S, Architecture for Real time Commiunication Over The Web,

2013.

[11] Purnama, Analisis Mac Address Dalam kaitannya Dengan Sistem keamanan

Jaringan Wifi LAN, 2011.

[12] T. H. Tran, Dynamic Modelling of Wheel-Terrain Interaction of a UGV, 2007.

[13] Santoso Berkah, Bahasa Pemrograman Python di Platform GNU / Linux, 2011.