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All Journal JURNAL ELEKTRO Metris: Jurnal Sains dan Teknologi
Herianto, David
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Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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Design and Implementation of a Vision-based Wheeled Mobile Robot Using HSV Color Segmentation and P-D Control Aditama, Wira; Herianto, David; Fernando, Nico; Henry, Carolus; Budiyanta, Nova Eka
Jurnal Elektro Vol 18 No 1 (2025): Jurnal Elektro: April 2025
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v18i1.6892

Abstract

This study presents the design and implementation of a wheeled mobile robot capable of detecting and tracking a ping-pong ball using vision-based processing. The system integrates a Raspberry Pi 3 Model B+ as the main controller, a Raspberry Pi Camera Rev 1.3 for visual input, and DC motors driven by an L298N motor driver for actuation. Object detection is achieved through color segmentation in the HSV color space using the OpenCV library, followed by morphological filtering and contour analysis. A proportional-derivative (PD) control algorithm is employed to adjust motor speeds dynamically based on the ball's horizontal position in the frame. The experimental results demonstrate that the robot can successfully detect and follow a ping-pong ball, although it exhibits limitations in processing speed and motion stability. The average frame rate during operation was 5 FPS, which is sufficient for basic tracking tasks but suboptimal for high-speed applications. This project highlights the feasibility of vision based robotic systems for simple object tracking tasks.
Simulasi Pengendalian Kecepatan Putar Motor DC Menggunakan Metode Logika Fuzzy Hutapea, Duma Kristina Yanti; Sachi, Haenuki; Kusmanto, Willy; Herianto, David; Fernanto, Nico; Bachri, Karel Octavianus
Metris: Jurnal Sains dan Teknologi Vol. 24 No. 02 (2023): Desember
Publisher : Prodi Teknik Industri, Fakultas Teknik - Universitas Katolik Indonesia Atma Jaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/metris.v24i02.4725

Abstract

This paper discusses DC motor rotational speed control using fuzzy logic method. The system works by utilizing ultrasonic sensors to detect distance. The detected distance affects the rotational speed of the DC motor which is controlled by the Arduino UNO microcontroller. Fuzzy logic is applied to the Arduino UNO microcontroller in which distance as the input, and the rotational speed of the DC motor in the form of Pulse Width Modulation as the output. There are several classifications of distance: very close, close, normal, far and very far. In addition, there are several classifications in the motor rotational speed response: slow, very slow, medium, fast, and very fast. The design of the fuzzy logic system is carried out in the Arduino IDE application and MATLAB using the Mamdani method at the inference stage. Fuzzy logic system is run on the Arduino UNO microcontroller in which the simulation is carried outthrough Proteus application. The test results show that the largest percentage of errors/discrepancies between the Proteus system design and the MATLAB is 1.55%. In the future, this simulation can be applied to systems such as self-driving cars.
Co-Authors Aditama, Wira Bachri, Karel Octavianus Duma Kristina Yanti Fernando, Nico Fernanto, Nico Henry, Carolus Kusmanto, Willy Nova Eka Budiyanta Sachi, Haenuki