Perbandingan Akurasi Jarak antara Metode Integral Euler dengan Metode Putaran Roda untuk Kendaraan Otonom
Keywords:
Integral Euler, Kendaraan Otonom, Sensor inersia, Sensor InframerahAbstract
Penggunaan kendaraan otonom dengan sistem kendali jarak jauh sangat banyak sekali penggunaanya di era revolusi industri, salah satunya adalah teknologi pembacaan jarak perpindahan kendaraan dan kecepatan gerak kendaraan. Pembacaan jarak perpindahan pada kendaraan otonom dapat dilakukan dengan metode integral euler dan metode putaran roda, metode reinman dan lain sebagainya. Penelitian ini bertujuan menentukan pembacaan jarak dan perbandingannya pada kendaraan otonom menggunakan metode integral euler dan metode putaran roda. Penelitian ini berfokus pada perbandingan jarak perpindahan kendaraan otonom antara metode integral euler dengan metode putaran roda. Metode integral euler digunakan pada perhitungan jarak perpindahan menggunakan sensor inersia dengan menurunkan data percepatan. Metode putaran roda digunakan pada perhitungan jarak perpindahan menggunakan infrared sensor dengan menghitung jumlah pulse data yang terdeteksi dikalikan dengan variabel penambahan jarak setiap celah roda. Hasil dari penelitian menunjukkan bahwa penggunaan metode integral euler pada pembacaan jarak perpindahan lebih baik dibandingkan metode putaran roda pada percoroda kendaraan bergerak maju, mundur, ke kiri dan ke kanan dengan perbandingan eror
4.13625％ berbanding 6.845％.
Implementation of autonomous vehicle with remote control system is very much implementation in industrial revolution. One of that is kendaraan displacement distance reading. Displacement distance reading in autonomous vehicle can using integral euler method, wheel spin method, reinman method and the others. Purpose in this research is to read displacement and comparation in Autonomous vehicle using euler integral method and wheel spin. This research focused in comparation of displacement distance autonomous vehicle between euler integral method with wheel spin method. Euler’s integral method used in calculation displacement distance with inertial sensor by diferential acceleration data. Wheel speed method used in calculation displacement distance with infrared sensor by calculate of pulse multiplied with addition each gap variabel. Research result show that use of euler integral method in displacement distance read more accurate than wheel speed method in test vehicle moves forward, backward, to the right, and to the left with comparation error 4.13625％ to 6.845％
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References
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