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MICROCONTROLLER-BASED LINE FOLLOWER ROBOT FOR AUTOMATED AGRICULTURAL GOODS TRANSPORTATION SYSTEM Milda Yuliza; Herizon; Fisla Wirda; Putri Ardila; Rahmat
Acitya Wisesa: Journal of Multidisciplinary Research Vol. 4 Issue 4 (2025)
Publisher : jfpublisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56943/jmr.v4i4.902

Abstract

As technological advancement continues to accelerate, automation-based solutions have become increasingly relevant for implementation in the Indonesian agricultural sector. One manifestation of this technological progress is the utilization of robotic systems to support various agricultural activities. This research aims to design and develop a microcontroller-based line follower robot capable of automatically following designated paths to facilitate the transportation of tomato harvests in agricultural areas. The study employs an experimental approach encompassing hardware design, electronic circuit design, software programming, and mechanical assembly. The robot integrates a five-sensor TCRT5000 infrared array for line tracking navigation and a TCS3200 color sensor for tomato classification based on ripeness indicators. Testing results demonstrated that temporal variations on the red and yellow paths were influenced by braking maneuver differences, sensor color response characteristics, and motor speed during turning operations. From fifteen color sensor trials, the system achieved 66.6% accuracy with ten correct detections and five misclassifications. The combination of five line sensors (S0 to S4) successfully determined directional movement, functioning as the primary navigation system in conjunction with the color sensor for routing decisions at intersections. Testing of the L298N motor driver confirmed effective wheel control, producing straight-line motion, left and right pivot rotations, and complete stops according to programmed motor input combinations. The developed system demonstrates the feasibility of integrating line-following navigation with color-based classification for automated post-harvest transportation in agricultural settings.
Pengembangan Sistem Otomasi Infiltrometer Berbasis ESP 8266 dan Absolute Rotary Encoder Rahmat Hanif Anasiru; Rafi R. Hendranawan; Budi Priyonggo; Arief Wicaksono; Rahmat; Raditya Pramana
AGRIEKSTENSIA Vol. 25 No. 1 (2026): AGRIEKSTENSIA: Jurnal Penelitian Terapan Bidang Pertanian
Publisher : Politeknik Pembangunan Pertanian Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34145/agriekstensia.v25i1.3982

Abstract

Pengukuran laju infiltrasi tanah secara manual menggunakan double ring infiltrometer (DRI) sering kali tidak efisien secara waktu dan rentan terhadap kesalahan pencatatan oleh petugas lapangan. Penelitian ini bertujuan untuk merancang dan memvalidasi sistem pengukuran laju infiltrasi otomatis berbasis mikrokontroler ESP8266 yang terintegrasi dengan analog rotary encoder, RTC, GPS, dan modul microSD. Data tinggi muka air diperoleh melalui konversi nilai ADC dari rotary encoder menggunakan fungsi kalibrasi linier dengan determinasi = 0,9961. Sistem ini secara otomatis mencatat data setiap 5 menit bersamaan dengan informasi waktu dan koordinat lokasi dalam format .csv. Hasil uji performa menunjukkan rata-rata error sebesar 0,42 cm/jam dengan persentase error hanya 0,17%. Nilai Mean Absolute Error (MAE) sebesar 0,90 cm/jam dan Root Mean Square Error (RMSE) sebesar 1,12 cm/jam menunjukkan akurasi dan konsistensi yang sangat baik di bawah ambang batas kesalahan 5%. Implementasi sistem ini terbukti meningkatkan efisiensi kerja lapangan secara signifikan, mereduksi beban kerja petugas, serta menghilangkan risiko kesalahan manusia dalam pembacaan visual. Alat ini sangat layak digunakan oleh penyuluh pertanian dan praktisi lapangan sebagai alternatif modern untuk mendukung manajemen irigasi presisi dan konservasi lahan berbasis data digital yang valid.
Co-Authors Arief Wicaksono Budi Priyonggo Fisla Wirda Herizon Milda Yuliza Putri Ardila Raditya Pramana Rafi R. Hendranawan Rahmat Hanif Anasiru