Realisasi Robot Pencari Jalan Keluar Dari Maze Dengan Sensor CMUCam.

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Universitas Kristen Maranatha

REALISASI ROBOT PENCARI JALAN KELUAR

DARI MAZE DENGAN SENSOR CMUCAM

Disusun oleh:

Nama : Andrian

NRP

: 0422147

Jurusan Teknik Elektro, Fakultas Teknik,Universitas Kristen Maranatha

Jl. Prof.Drg.Suria Sumantri, MPH no.65, Bandung, Indonesia,

email : Andri_Juzt@yahoo.co.id

ABSTRAK

Kecerdasan buatan atau AI didefinisikan sebagai kecerdasan yang ditunjukkan

oleh suatu entitas buatan. Contoh aplikasi yang menggunakan kecerdasan buatan

adalah sistem permainan komputer (game). Maze adalah jaringan jalan yang rumit

dan berliku-liku. Sejak zaman dahulu, maze telah digunakan dalam berbagai

kepentingan, mulai dari proteksi keamanan hingga hiburan.

Dalam Tugas Akhir ini, telah dibuat robot mobil tank pencari jalan keluar dari

maze dengan sensor CMUCAM. Algoritma yang digunakan untuk mencari jalan

keluar dari adalah algoritma Breadth First Search. Hasil tracking color robot mobil

dikirim ke komputer melalui hyper terminal untuk diolah pada komputer menjadi

posisi dari robot mobil pada maze. Sistem yang digunakan pada robot mobil ini

adalah menerima perintah dari komputer yang berupa karakter untuk menggerakkan

motor dc. Pergerakan robot mobil diatur sesuai dengan ukuran dari maze. Jalan keluar

dengan menggunakan algoritma Breadth First Search adalah hasil jalan keluar

terpendek.

Dari hasil percobaan yang dilakukan, diperoleh kesimpulan bahwa realisasi

robot pencari jalan keluar dari maze berhasil dirancang. Sensor CMUcam

men-tracking color robot mobil untuk mengetahui posisi dari robot mobil pada suatu maze

yang ada solusi. Dalam percobaan, untuk menemukan jalan keluar terpendek dari

maze dengan program adalah 100%, sedangkan percobaan menjalankan robot mobil

untuk berhasil menuju keluar dari maze adalah 20% karena hasil perputaran tidak

tepat 90

0

sehingga robot mobil akan menabrak dinding. Selain itu, gerakan robot

mobil masih bertahap (secara grid) berdasarkan hasil tracking color per-grid.

Kata kunci:

Sensor CMUcam, ATmega16, Maze, EB500, Algoritma Breadth First

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REALIZATION OF MAZE SOLVER USING ROBOT

WITH CMUCAM SENSOR

Composed by:

Name : Andrian

NRP

: 0422147

Electrical Engineering, Maranatha Cristian University,

Jl. Prof.Drg.Suria Sumantri, MPH no.65, Bandung, Indonesia.

email : Andri_Juzt@yahoo.co.id

ABSTRACT

Artificial intelligence or AI is defined an intelligence that is shown by an

artificial entity. The example for artificial intelligence application is computer game

system (game). Maze is a complex and tortuous network. Since a long time ago maze

has been used in many interests such as security protection and entertainment.

In this Final Project, maze exit using CMUCAM sensor tank robot is realized.

Algorithm which is used to find maze exit is Breadth First Search algorithm.

Tracking color result is sent to computer through hyper terminal to be processed to

become the position of mobile robot in maze. This mobile robot receives character

command from computer to actuate dc motor. Mobile r

obot’s

movement is set

accordance with maze size. The exit using Breadth First Search algorithm is the

shortest.

From experiments done, it is concluded that maze exit robot is successfully

realized. CMUcam sensor tracks mobile

robot’s color to find out the

mobile robot

position in a solved maze. In experiments, for successfully find shortest path in maze

with program the success percentage is 100%, while experiments for mobile robot

successfully finds exit with the success percentage 20% because ther result of rotation

not precisely 90

0

therefore robot will bump the wall. Moreover, mobile robot

movement still in phase (by grid) due tracking color result in grid.

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DAFTAR ISI

Halaman

ABSTRAK ...i

ABSTRACT ...ii

KATA PENGANTAR...iii

DAFTAR ISI...v

DAFTAR GAMBAR...ix

DAFTAR TABEL ...xiv

BAB I PENDAHULUAN

I.1 Latar Belakang...1

I.2 Perumusan Masalah ...1

1.3 Tujuan ...1

I.4 Pembatasan Masalah...2

I.5 Spesifikasi Alat ...2

I.6 Sistematika Penulisan ...2

BAB II LANDASAN TEORI

II.1 Sistem Gerak Mobile Robot Beroda...4

II.1.1 Differential Drive ...5

II.1.2 Trycycle Drive ...5

II.1.3 Synchronous Drive ...6

II.1.4 Holonomic Drive ...7

II.2 Citra Digital ...8

II.2.1 Representasi Pengolahan Citra ...8

II.2.2 Warna pada Pengolahan Citra ...9

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vi

II.3.1 Pemetaan Output Pixel pada Kamera ...13

II.3.2 Perintah Dasar pada CMUcam2+...14

II.3.3 Tipe Data CMUCam2+ ...16

II.4 Pengontrol Mikro ATmega16 ...17

II.4.1 Fitur ATmega16 ...17

II.4.2 Konfigurasi Pin ATmega16...18

II.4.3 Diagram Blok ATmega16 ...21

II.4.4 General Purpose Register ATmega16 ...22

II.4.5 Peta Memori ATmega16 ...22

II.5 Komunikasi Serial RS232 ...24

II.5.1 Karakteristik Sinyal RS232 ...25

II.5.2 Konektor dan Jenis Sinyal RS232 ...26

II.6 Motor DC ...27

II.7 Pengolahan Citra Digital Menggunakan C#...29

II.7.1 Class GDI + ...29

II.7.2 Pointer Method ...31

II.8 Bluetooth dan Cara Kerjanya...32

I.8.1 EB500 dan Bluetooth USB Dongle...33

II.9 Algoritma Breadth First Search...35

BAB III PERANCANGAN DAN REALISASI

III.1 Perancangan Sistem Robot Mobil...38

III.2 Robot Mobil dan Lapangan...40

III.3 Penggunaan Sensor CMUcam ...41

III.3.1 Pemilihan Baud Rate...42

III.3.2 Rangkaian Komunikasi Serial CMUCam2+

dengan Komputer ...43

III.4 Perancangan dan Realisasi Pengontrol Mikro...45

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vii

III.6 Algoritma Pemrograman pada Pengontrol Mikro...54

BAB IV ANALISA DAN DATA PENGAMATAN

IV.1 Pengujian CMUcam ...55

IV.2 Pengujian Komunikasi Bluetooth ...57

IV.3 Pengujian Terhadap Bentuk Maze yang Berbeda-beda ...58

IV.3.1 Pengujian pada Maze yang Tidak Memiliki Solusi...58

IV.3.1.1 Percobaan 1.A ...58

IV.3.1.2 Percobaan 1.B ...59

IV.3.2 Pengujian pada Maze yang Hanya Memiliki 1 Solusi...60

IV.3.2.3 Percobaan 2.C ...63

IV.3.3 Pengujian pada Maze yang Memiliki Lebih dari 1 Solusi..65

IV.4 Percobaan Menjalankan Robot Mobil pada Program ...71

IV.5 Percobaan Menjalankan Robot Mobil ...76

IV.6 Pola Gerak Robot Mobil ...78

BAB IV ANALISA DAN DATA PENGAMATAN

V.1 Kesimpulan ...79

V.2 Saran...79

DAFTAR PUSTAKA ...80

LAMPIRAN A FOTO ROBOT MOBIL

LAMPIRAN B PROGRAM PADA PENGONTROL MIKRO

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viii

DAFTAR GAMBAR

Halaman

1. Gambar 2.1

Mobile Robot ...4

2. Gambar 2.2

Sistem Gerak Differential Drive...5

3. Gambar 2.3

Sistem Gerak Trycycle Drive...6

4. Gambar 2.4

Sistem Gerak Synchronous Drive...7

5. Gambar 2.5

Penggunaan Roda Omni-Directional...7

6. Gambar 2.6

Sistem Gerak Holonomic Drive...8

7. Gambar 2.7

Nilai Warna RGB dalam Hexadecimal...9

8. Gambar 2.8

Komposisi Warna RGB ...10

9. Gambar 2.9

CMUCam2+ ...11

10. Gambar 2.10 Diagram Blok CMUCam2+...12

11. Gambar 2.11 CMUCam Color Tracking...13

12. Gambar 2.12 Perintah \r...14

13. Gambar 2.13 Perintah Reset ...15

14. Gambar 2.14 Perintah TC...16

15. Gambar 2.15 Konfigurasi Pin ATmega16 ...18

16. Gambar 2.16 Diagram Blok ATmega16...21

17. Gambar 2.17 General Purpose Register ATmega16...22

18. Gambar 2.18 Peta Memori Program ATmega16...23

19. Gambar 2.19 Peta Memori Data ATmega16 ...24

20. Gambar 2.20 Cara Kerja Motor DC ...28

21. Gambar 2.21 Paket Data Bluetooth ...32

22. Gambar 2.22 Transmisi Master dan Slave Bluetooth ...32

23. Gambar 2.23 Time Slot pada Bluetooth ...33

24. Gambar 2.24 Nomor pin EB500...34

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ix

26. Gambar 2.26 Pohon Ruang Status ...36

27. Gambar 2.27 Tahapan Pembentukan Pohon BFS ...37

28. Gambar 3.1

Diagram Blok Sistem Robot Mobil ...38

29. Gambar 3.2

Diagram Alir Cara Kerja ...39

30. Gambar 3.3

Robot mobil Sebelum Diberi Penutup...40

31. Gambar 3.4

Robot mobil Sesudah Diberi Penutup...41

32. Gambar 3.5

Letak CMUcam dan Maze ...41

33. Gambar 3.6

Konfigurasi Jumper Baud Rate ...42

34. Gambar 3.7

Konfigurasi Kabel Serial CMUCam2+ dengan

Komputer...44

35. Gambar 3.8

Diagram Skematik Rangkaian Pengontrol Robot...46

36. Gambar 3.9

Tampilan Program Maze Solver ...47

37. Gambar 3.10 Diagram Alir tombol

“

Wall

”

...50

38. Gambar 3.11 Diagram Alir

tombol “Solve”

...52

39. Gambar 3.12

Diagram Alir “

run

”

...53

40. Gambar 3.13 Diagram Alir pada Pengontrol Mikro...54

41. Gambar 4.1

Hasil Foto pada Intensitas Cahaya 17 Lux ...55

42. Gambar 4.2

Hasil Peningkatan Kontras sebesar 400% ...56

43. Gambar 4.3

Hasil Foto pada Intensitas Cahaya 201 Lux ...56

44. Gambar 4.4

Hasil Peningkatan Kontras sebesar 150% ...57

45. Gambar 4.5

Percobaan 1.A...59

46. Gambar 4.6

Percobaan 1.B ...60

47. Gambar 4.7

Percobaan 2.A...61

48. Gambar 4.8

Analisa Jalan Keluar pada Percobaan 2.A...61

49. Gambar 4.9

Percobaan 2.B ...62

50. Gambar 4.10 Analisa Jalan Keluar pada Percobaan 2.B ...63

51. Gambar 4.11 Percobaan 2.C ...64

52. Gambar 4.12 Analisa Jalan Keluar pada Percobaan 2.C ...64

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54. Gambar 4.14 Analisa Jalan Keluar yang Mungkin pada

Percobaan 3.A ...66

55. Gambar 4.14 Analisa Jalan Keluar pada Percobaan 3.A...66

56. Gambar 4.15 Pohon Ruang Status Percobaan 3.A ...67

57. Gambar 4.16 Percobaan 3.B ...68

58. Gambar 4.17 Analisa Jalan Keluar yang Mungkin pada

Percobaan3.B ...69

59. Gambar 4.18 Analisa Jalan Keluar pada Percobaan 3.B ...69

60. Gambar 4.19 Pohon Ruang Status Percobaan 3.B...70

61. Gambar 4.20 IVT Corporation Bluesolei...71

62. Gambar 4.21 Hasil Foto ...71

63. Gambar 4.22 Tampilan Hyper Terminal ...72

64. Gambar 4.23 Tampilan 1 ...72

69. Gambar 4.27 Pemetaan Posisi Robot Mobil...76

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xi

DAFTAR TABEL

Halaman

1.

Tabel 2.1 Contoh-Contoh Warna dalam Hexadecimal ... 10

2.

Tabel 2.2 Fungsi Khusus Port B ... 19

3.

Tabel 2.3 Fungsi Khusus Port C ... 20

4.

Tabel 2.4 Fungsi Khusus Port D ... 20

5.

Tabel 2.5 Jenis Sinyal RS232 ... 26

6.

Tabel 2.6 Konfigurasi Pin EB500 ... 34

7.

Tabel 3.1 Konfigurasi Baud Rate... 43

8.

Tabel 3.2 Tabel Kontrol dan Properti ... 48

9.

Tabel 4.1 Pengujian Pengiriman Perintah ke Robot Mobil... 57

10.

Tabel 4.2 Pertahap Pergerakan Robot Mobil Setelah Tombol

“run” Ditekan

... 75

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LAMPIRAN A

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[image:11.612.183.457.76.280.2]

A-1

Gambar A.1. Foto Robot Mobil Dengan PenutupDilihat Dari Atas

[image:11.612.183.457.319.521.2]

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[image:12.612.184.455.91.290.2]

A-2

Gambar A.3 Foto Robot Mobil Dengan PenutupDilihat Dari samping

[image:12.612.182.455.333.532.2]

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LAMPIRAN B

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B-1

/***************************************************** This program was produced by the

CodeWizardAVR V1.25.3 Professional Automatic Program Generator

Project : Version :

Date : 7/23/2009

Author : Lab Instrumentasi Company : UKM

Comments:

Chip type : ATmega16 Program type : Application Clock frequency : 11.059200 MHz Memory model : Small

External SRAM size : 0 Data Stack size : 256

*****************************************************/

#include <mega16.h>

// Standard Input/Output functions #include <stdio.h>

#include <delay.h>

// Declare your global variables here void maju()

{ PORTD.2=0; PORTD.3=1; PORTD.4=1; PORTD.5=1; PORTD.6=0; PORTD.7=1;

}

void kiri() { PORTD.2=0;

PORTD.3=1; PORTD.4=1; PORTD.5=1; PORTD.6=1; PORTD.7=0; delay_ms(450); PORTD.4=0; PORTD.5=0; }

void kanan() { PORTD.2=1;

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B-2

PORTD.4=0;

PORTD.5=0; }

void stop() {

PORTD.4=0; PORTD.5=0; }

void main(void) {char a;

// Declare your local variables here

// Input/Output Ports initialization // Port A initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTA=0x00;

DDRA=0x3F;

// Port B initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTB=0x00;

DDRB=0x00;

// Port C initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00;

DDRC=0x3F;

// Port D initialization

// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=In Func0=In // State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=T State0=T

PORTD=0x00; DDRD=0xFC;

// Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x00;

TCNT0=0x00; OCR0=0x00;

// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off

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B-3

TCCR1A=0x00;

TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00;

// Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FFh // OC2 output: Disconnected ASSR=0x00;

TCCR2=0x00; TCNT2=0x00; OCR2=0x00;

// External Interrupt(s) initialization // INT0: Off

// INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00;

// USART initialization

// Communication Parameters: 8 Data, 1 Stop, No Parity // USART Receiver: On

// USART Transmitter: On // USART Mode: Asynchronous // USART Baud rate: 9600 UCSRA=0x00;

UCSRB=0x18; UCSRC=0x86; UBRRH=0x00; UBRRL=0x47;

// Analog Comparator initialization // Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;

SFIOR=0x00;

while (1) {

// Place your code here a=getchar();

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B-4

{kanan();}

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LAMPIRAN C

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C-1

using System.IO;

using System.Drawing; using System.Collections; using System.ComponentModel; using System.Windows.Forms; using System.Data;

using System.Drawing.Imaging; using Mehroz;

using System.IO.Ports; using System.Threading;

namespace MazeSolverDemo {

/// <summary>

/// Summary description for MazeSolver /// Version 1.2

/// Developed by: Syed Mehroz Alam /// Email: smehrozalam@yahoo.com

/// URL: Programming Home "http://www.geocities.com/smehrozalam/" ///

///

/// New in verson 1.1

/// * Extended the program so that it can work on rectangular maze (pervious version

/// worked for only square maze) ///

/// New in verson 1.2

/// * The class can now handle diagonal paths also /// </summary>

public class frmMain : System.Windows.Forms.Form { Bitmap _image;

Mehroz.MazeSolver m_Maze; MazeSolver.StringA stringA;

MazeSolver.StringT stringT; int[,] m_iMaze; int m_iSize=20;

int m_iRowDimensions=7; int m_iColDimensions=7; string RxString;

private System.Windows.Forms.PictureBox pictureBox1; private System.Windows.Forms.Button cmdReset; private System.Windows.Forms.Button cmdExit; private System.Windows.Forms.Button button2; private System.Windows.Forms.OpenFileDialog OP; private System.Windows.Forms.Button button3; private System.Windows.Forms.Button button4;

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C-2

private Label label2;

private TextBox Ybox; private Button Start; private TextBox textBox1; private Button Stop; private TextBox xx; private TextBox yy; private Button run; private TextBox posisi; private TextBox aa;

private IContainer components;

public frmMain() {

//

// Required for Windows Form Designer support //

InitializeComponent();

//

// TODO: Add any constructor code after InitializeComponent call //

}

/// <summary>

/// Clean up any resources being used. /// </summary>

protected override void Dispose( bool disposing ) {

if( disposing ) {

if (components != null) {

components.Dispose(); }

}

base.Dispose( disposing ); }

#region Windows Form Designer generated code /// <summary>

/// Required method for Designer support - do not modify /// the contents of this method with the code editor. /// </summary>

private void InitializeComponent() {

this.components = new System.ComponentModel.Container(); this.pictureBox1 = new System.Windows.Forms.PictureBox(); this.cmdReset = new System.Windows.Forms.Button(); this.cmdExit = new System.Windows.Forms.Button(); this.button2 = new System.Windows.Forms.Button(); this.OP = new System.Windows.Forms.OpenFileDialog(); this.button3 = new System.Windows.Forms.Button(); this.button4 = new System.Windows.Forms.Button();

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C-3

this.Xbox = new System.Windows.Forms.TextBox(); this.label1 = new System.Windows.Forms.Label(); this.label2 = new System.Windows.Forms.Label(); this.Ybox = new System.Windows.Forms.TextBox(); this.Start = new System.Windows.Forms.Button(); this.textBox1 = new System.Windows.Forms.TextBox(); this.Stop = new System.Windows.Forms.Button(); this.xx = new System.Windows.Forms.TextBox(); this.yy = new System.Windows.Forms.TextBox(); this.run = new System.Windows.Forms.Button(); this.posisi = new System.Windows.Forms.TextBox(); this.aa = new System.Windows.Forms.TextBox();

((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); this.SuspendLayout();

//

// pictureBox1 //

this.pictureBox1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.pictureBox1.Location = new System.Drawing.Point(24, 16);

this.pictureBox1.Name = "pictureBox1";

this.pictureBox1.Size = new System.Drawing.Size(184, 168); this.pictureBox1.TabIndex = 0;

this.pictureBox1.TabStop = false; this.pictureBox1.Paint += new

System.Windows.Forms.PaintEventHandler(this.pictureBox1_Paint); //

// cmdReset //

this.cmdReset.Location = new System.Drawing.Point(328, 136); this.cmdReset.Name = "cmdReset";

this.cmdReset.Size = new System.Drawing.Size(104, 24); this.cmdReset.TabIndex = 6;

this.cmdReset.Text = "&Reset Maze";

this.cmdReset.Click += new System.EventHandler(this.cmdReset_Click); //

// cmdExit //

this.cmdExit.Location = new System.Drawing.Point(328, 176); this.cmdExit.Name = "cmdExit";

this.cmdExit.Size = new System.Drawing.Size(104, 24); this.cmdExit.TabIndex = 8;

this.cmdExit.Text = "E&xit";

this.cmdExit.Click += new System.EventHandler(this.cmdExit_Click); //

// button2 //

this.button2.Location = new System.Drawing.Point(328, 16); this.button2.Name = "button2";

this.button2.Size = new System.Drawing.Size(104, 24); this.button2.TabIndex = 11;

this.button2.Text = "Open";

this.button2.Click += new System.EventHandler(this.button2_Click); //

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C-4

this.button3.Text = "Solve";

// button4 //

this.button4.Text = "Wall";

// serialPort1 //

this.serialPort1.DataReceived += new

System.IO.Ports.SerialDataReceivedEventHandler(this.serialPort1_DataReceived); //

// Xbox //

this.Xbox.Location = new System.Drawing.Point(232, 255); this.Xbox.Name = "Xbox";

this.Xbox.Size = new System.Drawing.Size(40, 20); this.Xbox.TabIndex = 18;

// // label1 //

this.label1.AutoSize = true;

this.label1.Location = new System.Drawing.Point(244, 239); this.label1.Name = "label1";

this.label1.Size = new System.Drawing.Size(14, 13); this.label1.TabIndex = 19;

this.label1.Text = "X"; //

// label2 //

this.label2.AutoSize = true;

this.label2.Location = new System.Drawing.Point(325, 239); this.label2.Name = "label2";

this.label2.Size = new System.Drawing.Size(14, 13); this.label2.TabIndex = 20;

this.label2.Text = "Y"; //

// Ybox //

this.Ybox.Location = new System.Drawing.Point(310, 255); this.Ybox.Name = "Ybox";

this.Ybox.Size = new System.Drawing.Size(41, 20); this.Ybox.TabIndex = 21;

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C-5

this.Start.Location = new System.Drawing.Point(232, 294); this.Start.Name = "Start";

this.Start.Size = new System.Drawing.Size(75, 23); this.Start.TabIndex = 22;

this.Start.Text = "Start";

this.Start.UseVisualStyleBackColor = true;

this.Start.Click += new System.EventHandler(this.button1_Click); //

// textBox1 //

this.textBox1.Location = new System.Drawing.Point(232, 216); this.textBox1.Name = "textBox1";

this.textBox1.Size = new System.Drawing.Size(100, 20); this.textBox1.TabIndex = 23;

this.textBox1.KeyPress += new

System.Windows.Forms.KeyPressEventHandler(this.textBox1_KeyPress); //

// Stop //

this.Stop.Location = new System.Drawing.Point(348, 294); this.Stop.Name = "Stop";

this.Stop.Size = new System.Drawing.Size(75, 23); this.Stop.TabIndex = 24;

this.Stop.Text = "Stop";

this.Stop.UseVisualStyleBackColor = true;

this.Stop.Click += new System.EventHandler(this.Stop_Click); //

// xx //

this.xx.Location = new System.Drawing.Point(236, 334); this.xx.Name = "xx";

this.xx.Size = new System.Drawing.Size(55, 20); this.xx.TabIndex = 25;

// // yy //

this.yy.Location = new System.Drawing.Point(310, 334); this.yy.Name = "yy";

this.yy.Size = new System.Drawing.Size(51, 20); this.yy.TabIndex = 26;

// // run //

this.run.Location = new System.Drawing.Point(74, 255); this.run.Name = "run";

this.run.Size = new System.Drawing.Size(75, 23); this.run.TabIndex = 27;

this.run.Text = "run";

this.run.UseVisualStyleBackColor = true;

this.run.Click += new System.EventHandler(this.run_Click); //

// posisi //

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C-6

this.posisi.Size = new System.Drawing.Size(100, 20); this.posisi.TabIndex = 28;

// // aa //

this.aa.Location = new System.Drawing.Point(63, 297); this.aa.Name = "aa";

this.aa.Size = new System.Drawing.Size(100, 20); this.aa.TabIndex = 30;

//

// frmMain //

this.AutoScaleBaseSize = new System.Drawing.Size(5, 13); this.ClientSize = new System.Drawing.Size(472, 382); this.Controls.Add(this.aa); this.Controls.Add(this.posisi); this.Controls.Add(this.run); this.Controls.Add(this.yy); this.Controls.Add(this.xx); this.Controls.Add(this.Stop); this.Controls.Add(this.textBox1); this.Controls.Add(this.Start); this.Controls.Add(this.Ybox); this.Controls.Add(this.label2); this.Controls.Add(this.label1); this.Controls.Add(this.Xbox); this.Controls.Add(this.button4); this.Controls.Add(this.button3); this.Controls.Add(this.button2); this.Controls.Add(this.cmdExit); this.Controls.Add(this.cmdReset); this.Controls.Add(this.pictureBox1); this.Name = "frmMain";

this.Text = "Maze Solver by Syed Mehroz Alam";

this.Load += new System.EventHandler(this.Form1_Load); this.FormClosing += new

System.Windows.Forms.FormClosingEventHandler(this.frmMain_FormClosing); ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); this.ResumeLayout(false); this.PerformLayout(); } #endregion /// <summary>

/// The main entry point for the application. /// </summary>

(25)

C-7

{

System.Windows.Forms.MessageBox.Show("An unhandled exception '"+exp.Message+"' has occurred. \nPlease tell me at smehrozalam@yahoo.com so that I can fix this bug. Thank you", "Error");

} }

private void Form1_Load(object sender, System.EventArgs e) {

m_Maze = new Mehroz.MazeSolver(m_iRowDimensions, m_iColDimensions);

this.pictureBox1.Size=new

System.Drawing.Size(m_iColDimensions*m_iSize+3, m_iRowDimensions*m_iSize+3); m_iMaze=m_Maze.GetMaze;

}

private void pictureBox1_Paint(object sender, System.Windows.Forms.PaintEventArgs e)

{

Graphics myGraphics = e.Graphics; for (int i=0;i<m_iRowDimensions;i++)

for (int j=0;j<m_iColDimensions;j++) {

// print grids

myGraphics.DrawRectangle(new Pen(Color.Black) , j*m_iSize, i*m_iSize, m_iSize, m_iSize);

// print walls

if ( m_iMaze[i,j]==1 )

myGraphics.FillRectangle(new SolidBrush(Color.DarkGray) , j*m_iSize+1, i*m_iSize+1, m_iSize-1, m_iSize-1);

//print path

if ( m_iMaze[i,j]==100 )

myGraphics.FillRectangle(new SolidBrush(Color.Cyan) , j*m_iSize+1, i*m_iSize+1, m_iSize-1, m_iSize-1);

if (m_iMaze[i, j] == 10)

myGraphics.FillRectangle(new SolidBrush(Color.Red), j * m_iSize + 1, i * m_iSize + 1, m_iSize - 1, m_iSize - 1);

} }

private void cmdReset_Click(object sender, System.EventArgs e) {

m_Maze = new Mehroz.MazeSolver(m_iRowDimensions, m_iColDimensions);

m_iMaze=m_Maze.GetMaze; this.Refresh();

}

private void cmdExit_Click(object sender, System.EventArgs e) {

(26)

C-8

private void button2_Click(object sender, System.EventArgs e) {

OP.InitialDirectory="C:"; OP.Title="insert"; OP.FileName=""; OP.ShowDialog(); //pictureBox2.Visible=true; //increase contrast

_image=(Bitmap)Image.FromFile(OP.FileName,true); Image oldImage=this.pictureBox1.Image;

Bitmap bm=new Bitmap(this._image.Width, this._image.Height); Graphics g=Graphics.FromImage(bm);

ImageAttributes ia=new ImageAttributes();

ColorMatrix cm=new ColorMatrix(new float[][]{ new float[]{2f,0f,0f,0f,0f},

new float[]{0f,2f,0f,0f,0f},

new float[]{0.001f,0.001f,0.001f,0f,1f}}); ia.SetColorMatrix(cm);

g.DrawImage(_image,new

Rectangle(0,0,_image.Width,_image.Height),0,0,_image.Width,_image.Height,GraphicsUnit.Pixel ,ia);

g.Dispose(); ia.Dispose();

this.pictureBox1.Image=bm; if(oldImage!=null)

oldImage.Dispose(); }

int[,] iSolvedMaze=m_Maze.FindPath(6,1, 1,6); if (iSolvedMaze!=null)

{

m_iMaze=iSolvedMaze; }

this.Refresh(); }

private void pictureBox2_Click(object sender, System.EventArgs e) {

}

(27)

C-9

{

for (int j=0;j<m_iColDimensions;j++) {

int wall=0;

for(int a=0;a<m_iSize;a++) {

for(int b=0;b<m_iSize;b++) {

string c = ((pictureBox1.Image as Bitmap).GetPixel(a+m_iSize*j,b+m_iSize*i) ).ToString();

if (c=="Color [A=255, R=255, G=255, B=255]")

{wall ++;} }

}

if (wall>=15) {m_iMaze[i,j]=1;} }

}

this.Refresh();

}

public void maju() {

SerialPort port = new SerialPort("Com14", 9600, Parity.None, 8, StopBits.One); port.Open();

port.Write("w"); port.Close(); }

public void kanan() {

port.Write("e"); port.Close(); }

public void kiri() {

port.Write("q"); port.Close(); }

public void stop() {

port.Write("s"); port.Close(); }

(28)

C-10

serialPort1.PortName = "COM1";

serialPort1.BaudRate = 115200;

serialPort1.Open(); if (serialPort1.IsOpen) {

Start.Enabled = false; Stop.Enabled = true; textBox1.ReadOnly = false; }

}

private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e) {

RxString = serialPort1.ReadExisting(); this.Invoke(new EventHandler(DisplayText)); }

private void frmMain_FormClosing(object sender, FormClosingEventArgs e) {

if (serialPort1.IsOpen) serialPort1.Close();

}

private void textBox1_KeyPress(object sender, KeyPressEventArgs e) {

// If the port is closed, don't try to send a character.

if (!serialPort1.IsOpen) return;

// If the port is Open, declare a char[] array with one element. char[] buff = new char[1];

// Load element 0 with the key character.

buff[0] = e.KeyChar;

// Send the one character buffer. serialPort1.Write(buff, 0, 1);

// Set the KeyPress event as handled so the character won't // display locally. If you want it to display, omit the next line. e.Handled = true;

}

private void DisplayText(object sender, EventArgs e) {

string l = char.ConvertFromUtf32(13); textBox1.Text = "";

textBox1.AppendText(RxString);

(29)

C-11

Ybox.Text = stringA.nextElement(); Xbox.Text = stringT.nextElement(); string c = Xbox.Text;

string d = Convert.ToString(Ybox.Text); string i, j;

if (c == "8" || c == "9" || c == "7" || c == "10" || c == "6" || c == "11" || c == "5") { i = "0"; }

else if (c == "18" || c == "19" || c == "17" || c == "20" || c == "16" || c == "21" || c == "15") { i = "1"; }

else if (c == "28" || c == "29" || c == "27" || c == "30" || c == "26" || c == "31" || c == "25") { i = "2"; }

else if (c == "38" || c == "39" || c == "37" || c == "40" || c == "36" || c == "41" || c == "35") { i = "3"; }

else if (c == "48" || c == "49" || c == "47" || c == "50" || c == "46" || c == "51" || c == "45") { i = "4"; }

else if (c == "58" || c == "59" || c == "57" || c == "60" || c == "56" || c == "61" || c == "55") { i = "5"; }

else if (c == "68" || c == "69" || c == "67" || c == "70" || c == "66" || c == "71" || c == "65") { i = "6"; }

else { i = " "; };

if (d == "8" + l || d == "7" + l || d == "9" + l || d == "10" + l || d == "6" + l || d == "5" + l || d == "11" + l || d == "4" + l || d == "12" + l || d == "3" + l || d == "13" + l || d == "2" + l || d == "14" + l || d == "1" + l || d == "15" + l)

{ j = "0"; }

else if (d == "28" + l || d == "27" + l || d == "29" + l || d == "30" + l || d == "26" + l || d == "25" + l || d == "31" + l || d == "24" + l || d == "32" + l || d == "23" + l || d == "33" + l || d == "22" + l || d == "34" + l || d == "21" + l || d == "35" + l)

{ j = "1"; }

{ j = "2"; }

{ j = "3"; }

{ j = "4"; }

{ j = "5"; }

(30)

C-12

}

private void Stop_Click(object sender, EventArgs e) {

if (serialPort1.IsOpen) {

serialPort1.Close(); Start.Enabled = true; Stop.Enabled = false; textBox1.ReadOnly = true; }

}

private void run_Click(object sender, EventArgs e) {

string a = yy.Text; string b = xx.Text;

if (a == "1" || a == "2" || a == "3" || a == "4" || a == "5" || a == "6" || a == "0" ) if (b == "1" || b == "2" || b == "3" || b == "4" || b == "5" || b == "6" || b == "0") {

int j = Convert.ToInt32(b); int i = Convert.ToInt32(a); if (i == 1 && j == 6) { posisi.Text = "selesai"; }

else if (m_iMaze[i - 1, j] == 100 && posisi.Text == "1") {

maju();

Thread.Sleep(1000); stop();

aa.Text = "maju"; }

else if (m_iMaze[i, j + 1] == 100 && posisi.Text == "1") {

kanan();

aa.Text = "kanan"; posisi.Text = "2"; }

else if (m_iMaze[i, j - 1] == 100 && posisi.Text == "1") {

kiri();

aa.Text = "kiri"; posisi.Text = "4"; }

maju();

aa.Text = "maju"; }

else if (m_iMaze[i + 1, j] == 100 && posisi.Text == "2") {

kanan();

(31)

C-13

}

kiri();

maju();

aa.Text = "maju"; }

kanan();

kiri();

maju();

aa.Text = "maju"; }

kanan();

kiri();

}

(32)

C-14

} ___________________________________________________ MazeSolver.cs using System; using System.Threading; namespace Mehroz { /// <summary>

/// Summary description for MazeSolver. /// Class name: MazeSolver

/// Developed by: Syed Mehroz Alam /// Email: smehrozalam@yahoo.com

/// URL: Programming Home "http://www.geocities.com/smehrozalam/" ///

/// Constructors:

/// ( int[,] ): takes 2D integer array

/// ( int Rows, int Cols ) initializes the dimensions, indexers may be used

/// to set individual elements'

values ///

/// Properties:

/// Rows: returns the no. of rows in the current maze /// Cols: returns the no. of columns in the current maze /// Maze: returns the current maze as a 2D array

/// PathCharacter: to get/set the value of path tracing character /// AllowDiagonal: whether diagonal paths are allowed ///

/// Indexers:

/// [i,j] = used to s eet/getlements of maze ///

/// Public Methods (Description is given with respective methods' definitions) /// int[,] FindPath(int iFromY, int iFromX, int iToY, int iToX) ///

/// Private Methods

/// void GetNodeContents(int[,] iMaze, int iNodeNo)

/// void ChangeNodeContents(int[,] iMaze, int iNodeNo, int iNewValue) /// int[,] Search(int iBeginningNode, int iEndingNode)

///

/// </summary>

delegate void MazeChangedHandler(int iChanged, int jChanged); class MazeSolver

{

/// <summary>

/// Class attributes/members /// </summary> int[,] m_iMaze; int m_iRows; int m_iCols; int iPath=100; bool diagonal=false;

public event MazeChangedHandler OnMazeChangedEvent;

/// <summary>

(33)

C-15

/// </summary>

public MazeSolver(int[,] iMaze) {

m_iMaze=iMaze;

m_iRows=iMaze.GetLength(0); m_iCols=iMaze.GetLength(1); }

/// <summary>

/// Constructor 2: initializes the dimensions of maze,

/// later, indexers may be used to set individual elements' values /// </summary>

public MazeSolver(int iRows, int iCols) {

m_iMaze=new int[iRows, iCols]; m_iRows=iRows;

m_iCols=iCols; }

/// <summary> /// Properites: /// </summary> public int Rows {

get { return m_iRows; } }

public int Cols {

get { return m_iCols; } }

public int[,] GetMaze {

get { return m_iMaze; } }

public int PathCharacter {

get { return iPath; } set

{

if (value==0)

throw new Exception("Invalid path character specified");

else

iPath=value; }

}

/// <summary> /// Indexer /// </summary>

public int this[int iRow, int iCol] {

(34)

C-16

set

{

m_iMaze[iRow,iCol]=value;

if (this.OnMazeChangedEvent!=null) // trigger event this.OnMazeChangedEvent(iRow, iCol);

} }

/// <summary>

/// The function is used to get the contents of a given node in a given maze, /// specified by its node no.

/// </summary>

private int GetNodeContents(int[,] iMaze, int iNodeNo) {

int iCols=iMaze.GetLength(1);

return iMaze[iNodeNo/iCols,iNodeNo-iNodeNo/iCols*iCols]; }

/// <summary>

/// The function is used to change the contents of a given node in a given maze, /// specified by its node no.

/// </summary>

private void ChangeNodeContents(int[,] iMaze, int iNodeNo, int iNewValue) {

int iCols=iMaze.GetLength(1);

iMaze[iNodeNo/iCols,iNodeNo-iNodeNo/iCols*iCols]=iNewValue; }

/// <summary>

/// This public function finds the shortest path between two points /// in the maze and return the solution as an array with the path traced /// by "iPath" (can be changed using property "PathCharacter") /// if no path exists, the function returns null

/// </summary>

public int[,] FindPath(int iFromY, int iFromX, int iToY, int iToX) {

int iBeginningNode = iFromY*this.Cols + iFromX; int iEndingNode = iToY*this.Cols + iToX; return ( Search(iBeginningNode, iEndingNode) ) ; }

/// <summary>

/// Internal function for that finds the shortest path using a technique /// similar to breadth-first search.

/// It assigns a node no. to each node(2D array element) and applies the algorithm

/// </summary> private enum Status

{ Ready, Waiting, Processed } private int[,] Search(int iStart, int iStop) {

const int empty=0;

(35)

C-17

int iCols=m_iCols; int iMax=iRows*iCols; int[] Queue=new int[iMax]; int[] Origin=new int[iMax]; int iFront=0, iRear=0;

//check if starting and ending points are valid (open) if ( GetNodeContents(m_iMaze, iStart)!=empty || GetNodeContents(m_iMaze, iStop)!=empty )

{

return null; }

//create dummy array for storing status int[,] iMazeStatus=new int[iRows,iCols]; //initially all nodes are ready

for(int i=0;i<iRows;i++) for(int j=0;j<iCols;j++)

iMazeStatus[i,j]=(int)Status.Ready;

//add starting node to Q Queue[iRear]=iStart; Origin[iRear]=-1; iRear++;

int iCurrent, iLeft, iRight, iTop, iDown, iRightUp, iRightDown, iLeftUp, iLeftDown;

while(iFront!=iRear) // while Q not empty {

if (Queue[iFront]==iStop) // maze is solved break;

iCurrent=Queue[iFront];

iLeft=iCurrent-1;

if (iLeft>=0 && iLeft/iCols==iCurrent/iCols) //if left node exists

if ( GetNodeContents(m_iMaze, iLeft)==empty ) //if left node is open(a path exists)

if (GetNodeContents(iMazeStatus, iLeft) == (int)Status.Ready) //if left node is ready

{

Queue[iRear]=iLeft; //add to Q Origin[iRear]=iCurrent;

ChangeNodeContents(iMazeStatus, iLeft, (int)Status.Waiting); //change status to waiting

iRear++; }

iRight=iCurrent+1;

if (iRight<iMax && iRight/iCols==iCurrent/iCols) //if right node exists

if ( GetNodeContents(m_iMaze, iRight)==empty ) //if right node is open(a path exists)

(36)

C-18

{

Queue[iRear]=iRight; //add to Q Origin[iRear]=iCurrent;

ChangeNodeContents(iMazeStatus, iRight, (int)Status.Waiting); //change status to waiting

iRear++; }

iTop=iCurrent-iCols;

if (iTop>=0 ) //if top node exists

if ( GetNodeContents(m_iMaze, iTop)==empty ) //if top node is open(a path exists)

if (GetNodeContents(iMazeStatus, iTop) == (int)Status.Ready) //if top node is ready

{

Queue[iRear]=iTop; //add to Q Origin[iRear]=iCurrent;

ChangeNodeContents(iMazeStatus, iTop, (int)Status.Waiting ); //change status to waiting

iRear++; }

iDown=iCurrent+iCols;

if (iDown<iMax ) //if bottom node exists

if ( GetNodeContents(m_iMaze, iDown)==empty ) //if bottom node is open(a path exists)

if (GetNodeContents(iMazeStatus, iDown) == (int)Status.Ready) //if bottom node is ready

{

Queue[iRear]=iDown; //add to Q Origin[iRear]=iCurrent;

ChangeNodeContents(iMazeStatus, iDown, (int)Status.Waiting); //change status to waiting

iRear++; }

//change status of current node to processed ChangeNodeContents(iMazeStatus, iCurrent, (int)Status.Processed);

iFront++;

}

//create an array(maze) for solution int[,] iMazeSolved=new int[iRows,iCols]; for(int i=0;i<iRows;i++)

for(int j=0;j<iCols;j++)

iMazeSolved[i,j]=m_iMaze[i,j];

//make a path in the Solved Maze iCurrent=iStop;

(37)

C-19

{

if (Queue[i]==iCurrent) {

iCurrent=Origin[i];

if (iCurrent==-1) // maze is solved return ( iMazeSolved );

ChangeNodeContents(iMazeSolved, iCurrent, iPath); }

}

//no path exists return null; }

}

StringA.cs using System;

using System.Collections.Generic; using System.Text;

namespace MazeSolver {

public class StringA {

private string data, delimiter; private string[] token; private int index;

public StringA(string dataLine) { init(dataLine, " "); }

private void init(String dataLine, string delim) {

delimiter = delim; data = dataLine;

token = data.Split(delimiter.ToCharArray()); index = 2;

}

public StringA(string dataLine, string delim) { init(dataLine, delim); }

public string nextElement() {

if (index < token.Length) return token[index++]; else

return ""; }

} }

StringT.cs using System;

(38)

C-20

using System.Text;

namespace MazeSolver {

public class StringT {

private string data, delimiter; private string[] token; private int index;

public StringT(string dataLine) {

init(dataLine, " "); }

private void init(String dataLine, string delim) {

delimiter = delim; data = dataLine;

token = data.Split(delimiter.ToCharArray()); index = 1;

}

public StringT(string dataLine, string delim) { init(dataLine, delim); }

public string nextElement() {

if (index < token.Length) return token[index++]; else

return ""; }

//

// TODO: Add constructor logic here //

(39)

1

BAB I

PENDAHULUAN

Pada bab ini berisi tentang latar belakang, perumusan masalah, tujuan,

pembatasan masalah dan spesifikasi alat.

I.1 Latar Belakang

Kecerdasan Buatan atau AI didefinisikan sebagai kecerdasan yang

ditunjukkan oleh suatu entitas buatan. Contoh aplikasi yang menggunakan

kecerdasan buatan adalah sistem permainan komputer (game). Maze adalah

jaringan jalan yang rumit dan berliku-liku. Sejak zaman dahulu, maze telah

digunakan dalam berbagai kepentingan, mulai dari proteksi keamanan hingga

hiburan. Unuk menunjukkan kecerdasan robot, dapat diuji dengan permainan

maze.

Maze adalah permainan yang sudah tidak asing di telinga manusia. Maze

adalah jaringan jalan yang rumit dan berliku-liku. Pada umumnya, maze dibuat

untuk tujuan hiburan. Maze adalah sebuah puzzle dalam bentuk percabangan jalan

yang kompleks dan memiliki banyak jalan buntu.

Tujuan permainan ini adalah robot mobil harus menemukan jalan keluar

dari sebuah pintu masuk ke satu atau lebih pintu keluar. Kondisi permainan

selesai yaitu ketika telah mencapai suatu titik di dalam maze tersebut.

I.2 Perumusan Masalah

Perumusan masalah yang akan dibahas dalam Tugas Akhir ini adalah

bagaimana merealisasikan robot pencari jalan keluar dalam maze dengan sensor

CMU-cam.

I.3 Tujuan

(40)

BAB I PENDAHULUAN

Universitas Kristen Maranatha

2

I.4 Pembatasan Masalah

Pembatasan masalah pada Tugas Akhir ini dibatasi oleh :

1. Ukuran dari maze telah ditentukan (170cm x 170cm), dengan ukuran

jalur 50 cm - 60 cm.

2. Letak dari dinding tepat pada grid yang berukuran 7x7, dengan ukuran

dari 1 grid 20 pixel.

3. Secara keseluruhan maze dapat dilihat pada CMU-cam.

4. Dimensi dari robot tidak lebih besar dari 0.6 x lebar jalur.

5. Robot mobil bergerak dalam satu satuan grid.

6. Teknik belok dengan menggunakan delay agar didapat perputaran

sebesar 90

0

.

I.5 Spesifikasi Alat

Spesifikasi alat adalah sebagai berikut :

1. Pengontrolan robot menggunakan Atmega 16.

2. Antar muka antara robot mobil dan komputer menggunakan Bluetooth,

dengan eb500 pada robot mobil dan bluetooth dongle pada komputer.

3. Robot mobil dengan sistem gerak differential drive.

4. Sensor posisi dengan CMU-cam.

5. Robot mobil dapat melakukan manuver maju, berputar ke kanan dan kiri

sebesar 90

0

.

6. Teknik solusi maze dengan menggunakan algoritma Breadth First Search.

I.6 Sistematika Penulisan

Laporan terdiri dari beberapa bab dengan garis besar sebagai berikut :

BAB I PENDAHULUAN

(41)

BAB I PENDAHULUAN

Universitas Kristen Maranatha

3

BAB II LANDASAN TEORI

Pada bab ini dijelaskan mengenai teori-teori penunjang yang diperlukan

dalam merancang dan merealisasikan robot mobil yaitu berupa teori tentang

robotika, sistem gerak mobile robot beroda, citra digital, CMUCam,

pengontrol mikro, komunikasi serial RS232, motor DC dan algoritma

Breadth First Search.

BAB III PERANCANGAN DAN REALISASI

Pada bab ini dijelaskan tentang perancangan system robot mobil, robot mobil

dan lapangan, penggunaan sensor CMUcam, perancangan dan realisasi

pengontrol mikro, realisasi program aplikasi antarmuka maze solver, dan

algoritma pemograman pada pengontrol mikro.

BAB IV ANALISA DAN DATA PENGAMATAN

Pada bab ini dijelaskan tentang proses pengambilan data pengamatan,

pengujian sistem keseluruhan, dan analisisnya.

BAB V KESIMPULAN DAN SARAN

(42)

79

BAB V

Kesimpulan dan Saran

Bab ini berisi kesimpulan dari Tugas Akhir dan saran-saran yang perlu

dilakukan untuk perbaikan di masa mendatang.

V.1 Kesimpulan

Dengan memperhatikan data pengamatan dan analisis pada bab sebelumnya,

dapat disimpulkan bahwa:

1. Realisasi robot mobil pencari jalan keluar dari maze dengan sensor CMUcam

dapat dikendalikan dengan pengontrol mikro ATmega 16, dengan CMUcam

melakukan tracking color dan hasil tracking color diproses pada komputer

dan mengirimkan perintah ke EB500 yang berupa karakter untuk kemudian

diproses pengontrol mikro untuk menggerakkan motor DC.

2. Semua maze yang mempunyai solusi, dapat ditemukan jalan keluarnya

dengan hasil jalan keluar yang optimal ( terpendek ), dengan ditemukannya

jalan keluar maka robot mobil dapat mencapai jalan keluar dari maze.

3. Dalam percobaan, persentase untuk menemukan jalan keluar terpendek dari

maze dengan program adalah 100%, sedangkan percobaan menjalankan robot

mobil untuk berhasil menuju keluar dari maze adalah 20% karena untuk belok

kiri dan belok kanan perputarannya tidak 90

0

.

V.2 Saran

Saran-saran yang dapat diberikan untuk perbaikan dan pengembangan dari

Tugas Akhir ini adalah sebagai berikut:

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80

DAFTAR PUSTAKA

1. Andrianto, H., Buku Panduan : Pelatihan Mikrokontroler AVR ATmega16, 2008.

2. Cooper, J. W. Introduction to Design Patterns in C#, IBM T J Watson Research

Center, 2000.

3. Halim, Sandy, ST. Merancang Mobile Robot Pembawa Objek Menggunakan

OOPic-R, Jakarta:PT Elex Media Komputindo, 2007.

4. Munir, Rinaldi.

”Pengolahan Citra Digital dengan Pendekatan Algoritmik”

,

Penerbit Informatika, 2004.

5.

Ogata, Katsuhiko, “

Modern Control Engineering”

, Third Edition, PrenticeHall,

USA, 1997.

6. http://cmu-camera.com/cmu.pdf

7. http://education.web.id/site/index.php?option=com_content&view=article&id=53

:sensor&catid=48:sensor&Itemid=78.

8. http://id.wikipedia.org/wiki/Robot

9. http://www-2.cs.cu.edu/-cmucam2/downloads.html

10. http://www.acroname.com

11. http://www.atmel.com

12. http://www.avrfreaks.net

13. http://www.captain.at/electronic-index.php

14. http://www.cs.cmu.edu/~cmucam/cmucam2/CMUcam2_manual.pdf

15. http://www.cs.cmu.edu/~cmucam/cmucam2/CMUcamGUI_overview.pdf

16. http://www.gedex.web.id.

17. http://www.parallax.com.

18. www.c-sharpcorner.com/