Rancang Bangun Quadcopter untuk Terbang Mengikuti Dinding Menggunakan Sensor Jarak Ultrasonik HC-SR04

Indra Maulidin, Muliady Muliady, Yohana Susanthi

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Makalah ini memaparkan perancangan dan realisasi sebuah quadcopter menggunakan sensor jarak ultrasonic HC-SR04 agar dapat terbang mengikuti dinding. Algoritma yang digunakan pada realisasi quadcopter adalah algoritma Wall Follower. Fokus pembahasan sistem tersebut adalah mengimplementasikan algoritma Wall Follower pada quadcopter agar dapat terbang navigasi dalam ruang dengan cara mengikuti dinding. Kontrol pergerakan roll menggunakan mode pengontrol ON-OFF Hysteresis sedangkan pada pergerakan yaw digunakan mode pengontrol open-loop. Nilai batas bawah dan batas atas yang digunakan pada kontrol ON-OFF Hysteresis adalah 70 cm dan 100 cm. Hasil pengujian menunjukkan quadcopter berhasil terbang mengikuti dinding sejauh 10,2 m dengan ketinggian maksimum 2,14 m.

 

This paper explained the design and realization of a quadcopter using the HC-SR04 ultrasonic distance sensor so that it can fly following the wall. The algorithm used in the quadcopter design is the Wall Follower algorithm. The focus of the discussion of the system is implementing a Wall Follower algorithm to the quadcopter so that it can navigate following the wall. The roll movement control was using Hysteresis ON-OFF control and the yaw movement control was using open-loop control. The lower and upper limit values that were used in the Hysteresis ON-OFF control are 70 cm and 100 cm. The test results show the quadcopter can fly following the wall as far as 10.2 m and reaches a maximum height of 2,14 m.


Kata Kunci


Quadcopter; Sensor Jarak Ultrasonic HC-SR04; Wall Follower; ON-OFF Hysteresis

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Referensi


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DOI: https://doi.org/10.15575/telka.v6n2.75-84

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