RANCANG BANGUN SISTEM NAVIGASI AUTONOMOUS SURFACE VEHICLE

BERDASARKAN WAYPOINT BERBASIS INTERNET OF THINGS (IOT)

Nama : Nur Hidayat
NIM : 170431100089
Program Studi : Teknik Elektro
Dosen Pembimbing : Haryanto, S.T.,M.T
Achmad Fiqhi Ibadillah,
S.T.,M.Sc.

ABSTRAK
Pada dasarnya pengoperasian ASV terdiri atas dua macam sistem pengendalian, yaitu
menggunakan remote control dan secara automous (auto pilot). Untuk sistem pengendalian secara
auto pilot, sebelumnya harus menggunakan titik-titik koordinat (waypoint) yang berfungsi sebagai
rute perjalanan drone. Biasanya penentuan titik koordinat menggunakan software yang bernama
Mission Planner, dimana titik koordinat yang sudah kita atur akan disimpan dan datanya akan dikirim
ke flight controller wahana ASV, yang nantinya akan terbang sesuai dengan titik koordinat yang sudah
dibuat di Mission Planner pada PC (laptop). Pada penelitian kali ini dibuat sebuah transisi aplikasi
yang fungsinya sama dengan Mission Planner yaitu simulasi penentuan waypoint (titik koordinat)
jalur kapal menggunakan smartphone. Mengganti komunikasi telemetry dengan menggunakan
komunikasi jaringan 4G. Kelebihan lain dari transisi aplikasi ini yaitu penentuan waypoint (titik
koordinat) bisa dilakukan lewat smartphone tidak lagi menggunakan PC (laptop). Untuk antar
koneksinya, aplikasi tersebut bisa terhubung dengan jaringan 4G sehingga tidak lagi menggunakan
dua telemetry yang dihubungkan di smartphone dan kapal. Dengan adanya sistem ini diharapkan dapat
mempermudah dalam mengontrol kapal autonomous tanpa menggunakan PC (laptop) ataupun
telemetry yang jangkauannya terbatas. Hasil penelitian ini yaitu pergerakan kapal oleh motor
brushless dapat mendorong kapal dengan baik menuju titik waypoint dengan menggunakan sebanyak
2 percobaan wapoint yang berjarak sepanjang 34 meter. Sistem tersebut berhasil menggerakan kapal
dengan jarak antara home ke waypoint 1 sekitar 13 meter yang akan ditempuh kapal tanpa awak
kemudian antara waypoint 1 menuju waypoint 2 sepanjang 6 meter dan jarak kembali pada titik awal
atau home sepanjang 15 meter. Kemudian nilai selisih dengan jalur sebenarnya (xtrack) rata-rata -0.43
meter.
Kata kunci : ASV, GPS, Sistem Navigasi, Waypoint, Internet Of Things.

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 DAFTAR ISI

HALAMAN PENGESAHAN ...................................................................................................... iii

HALAMAN PERNYATAAN ORISINALITAS JUDUL ........................................................... iv
MOTTO ........................................................................................................................................ v
ABSTRAK……………………………………………………………………………………….vii
KATA PENGANTAR.................................................................................................................. vii
DAFTAR ISI
...................................................................................................................................................... Error
! Bookmark not defined.
DAFTAR GAMBAR ...................................................................................................................... x
DAFTAR TABEL ........................................................................................................................ xi
BAB I PENDAHULUAN
1.1. Latar Belakang ............................................................... Error! Bookmark not defined.
1.2. Rumusan Masalah .......................................................... Error! Bookmark not defined.
1.3. Tujuan............................................................................................................................... 3
1.4. Manfaat............................................................................................................................. 3
1.5. Batasan Masalah ............................................................. Error! Bookmark not defined.
1.6 Sistematika Penulisan ....................................................................................................... 4
BAB II TINJAUAN PUSTAKA
2.1 Penelitian Terdahulu ...................................................... Error! Bookmark not defined.
2.2 Dasar Teori ....................................................................................................................... 8
2.2.1 Arduino Uno .............................................................................................................. 8
2.2.2 Driver Motor BTS ................................................................................................... 11
2.2.3 Motor Brushless ...................................................................................................... 12
2.2.4 Modul Step Down .................................................................................................... 14
2.2.5 Global Navigation Sattelit System (GNSS) ............................................................. 15
2.2.6 Baterai LiPo............................................................. Error! Bookmark not defined.
2.2.7 Web Server .............................................................................................................. 18
2.2.8 Smartphone.............................................................................................................. 18

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 2.2.9 Internet .................................................................................................................... 19
2.2.10 Modul ESP8266 ...................................................................................................... 20
BAB III METODE PENELITIAN
3.1 Perancangan Sistem........................................................................................................ 22
3.1.1 Rancangan Perangkat Keras .................................................................................... 22
3.1.2 Rancangan Perangkat Lunak ................................................................................... 23
3.2 Desain Sistem ................................................................................................................. 25
3.3 Analisis Kebutuhan……………………………………………………………………..25
3.3.1 Kebutuhan Hardware……………………………………………………………....25
3.3.2 Kebutuhan Software……………………………………………………………….25
BAB IV HASIL PENELITIAN DAN ANALISA
4.1 Hasil Rancangan .............................................................................................................. 27
4.2 Hasil Pengujian Sistem .................................................................................................... 29
4.2.1 Pengujian Motor Brushless....................................................................................... 29
4.2.2 Pengujian Baterai...................................................................................................... 30
4.3 Skenario Uji Coba............................................................................................................ 30
4.4 Data Uji Coba .................................................................................................................. 32
4.5 Analisa…………………………………………………………………………………..34
BAB V PENUTUP
5.1 Kesimpulan ...................................................................................................................... 35
5.2 Saran ................................................................................................................................ 35
DAFTAR PUSTAKA ……………………………………………………………………………36
DAFTAR RIWAYAT HIDUP…………………………………………………………………...37

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 DAFTAR GAMBAR

Gambar 2.1 Arduino Uno .................................................................................................................. 10

Gambar 2.2 Kabel USB Board Arduino Uno………………………………………………………..10
Gambar 2.3 Driver Motor BTS ......................................................................................................... 12
Gambar 2.4 Motor Brushless ............................................................................................................ 13
Gambar 2.5 Modul Step Down .......................................................................................................... 15
Gambar 2.6 GPS Neo-M8N .............................................................................................................. 16
Gambar 2.7 Baterai LiPo ................................................................................................................... 17
Gambar 2.8 Web Server .................................................................................................................... 18
Gambar 2.9 Smartphone .................................................................................................................... 19
Gambar 2.10 Internet......................................................................................................................... 20
Gambar 2.11 Modul ESP8266 .......................................................................................................... 21
Gambar 3.1 Blok Diagram ................................................................................................................ 22
Gambar 3.2 Flowchart Sistem ........................................................................................................... 24
Gambar 3.3 Desain ASV ................................................................................................................... 25
Gambar 4.1 Kapal ASV .................................................................................................................... 27
Gambar 4.2 Letak Rangkaian ............................................................................................................ 28
Gambar 4.3 Isi Kotak Rangkaian ...................................................................................................... 28
Gambar 4.4 Letak GPS M8N ............................................................................................................ 29
Gambar 4.5 Pengujian Motor Brushless ........................................................................................... 29
Gambar 4.6 Pengujian Baterai .......................................................................................................... 30
Gambar 4.7 Tampilan waypoint pada GCS sebelum AUTO ............................................................. 31
Gambar 4.8 Tampilan track jalan kapal ............................................................................................ 31

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 DAFTAR TABEL

Tabel 2. 1 Teknis Board Arduino UNO ..................................................................................... 9

Tabel 4. 1 Parameter Motor DC ........................................... Error! Bookmark not defined.29
Tabel 4.2 Hasil Pengujian ................................................... Error! Bookmark not defined.32

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