Skripsi

PERANCANGAN ROBOT PENDETEKSI DAN ESTIMASI KEDALAMAN LUBANG

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Potholes are a common form of road damage that pose serious risks to road users. Accurate repair requires estimating the pothole's dimensions—length, width, and depth—which is still commonly done manually and inefficiently. This study proposes the development of an autonomous mobile robot capable of detecting and estimating pothole dimensions. The robot utilizes an ultrasonic sensor and a deep learning based webcam system for pothole detection and depth estimation. It navigates using a Proportional-Integral Derivative (PID) control system and is operated via a stick controller. Simulation results showed the PID system significantly reduced steady-state error to 0.0028. Real-time testing demonstrated the robot's effectiveness, achieving a mean square error (MSE) of 2.89% for depth measurement using an HC-SR04 ultrasonic sensor and 0.04% MSE for GPS-based location tracking. The visual system achieved a 76% success rate in pothole detection. These results indicate that the robot can be effectively implemented for automated pothole detection and depth estimation.

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Availability

Detail Information

Series Title

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Call Number

T1837822025

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2025

Collation

x, 87 hlm.; ilus,; tab, 29 cm

Language

Indonesia

ISBN/ISSN

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Classification

629.807

Content Type

Text

Media Type

unmediated

Carrier Type

other (computer)

Edition

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Subject(s)

Teknik kontrol otomatis
Prodi Teknik Elektro

Specific Detail Info

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Statement of Responsibility

SEPTA

Other version/related

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