S KOM 1002868 Table of content
Daftar Isi
Abstrak ...............................................................................Error! Bookmark not defined.
KATA PENGANTAR .......................................................Error! Bookmark not defined.
Daftar Isi ............................................................................................................................ vi
BAB I .................................................................................Error! Bookmark not defined.
PENDAHULUAN .............................................................Error! Bookmark not defined.
1.1 Latar Belakang Penelitian ........................................Error! Bookmark not defined.
1.2 Identifikasi dan Perumusan Masalah .......................Error! Bookmark not defined.
1.3 Tujuan Penelitian .....................................................Error! Bookmark not defined.
1.4 Batasan Masalah ......................................................Error! Bookmark not defined.
1.5 Metode Penelitian ....................................................Error! Bookmark not defined.
1.6 Sistematika Penulisan ..............................................Error! Bookmark not defined.
BAB II................................................................................Error! Bookmark not defined.
KAJIAN PUSTAKA ..........................................................Error! Bookmark not defined.
2.1 Sistem Visual ...........................................................Error! Bookmark not defined.
2.2 Citra Digital .............................................................Error! Bookmark not defined.
2.3 Piksel ........................................................................Error! Bookmark not defined.
2.4 Pembacaan garis pada robot line follower ...............Error! Bookmark not defined.
2.5 Pengenalan Marka jalan ...........................................Error! Bookmark not defined.
2.6 Koordinat Kartesius dan Kutub................................Error! Bookmark not defined.
2.6.1 Konversi koordinat kutub ke koordinat kartesius ........... Error! Bookmark not
defined.
2.7 Perbandingan Trigonometri Sudut di Berbagai Kuadran ....... Error! Bookmark not
defined.
2.8 Vektor ......................................................................Error! Bookmark not defined.
2.8.1 Perkalian Titik Vektor .......................................Error! Bookmark not defined.
2.8.2 Perkalian Silang Vektor ....................................Error! Bookmark not defined.
2.9 Komunikasi Serial ....................................................Error! Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
BAB III ..............................................................................Error! Bookmark not defined.
METODE PENELITIAN ...................................................Error! Bookmark not defined.
3.1 Desain Penelitian .....................................................Error! Bookmark not defined.
3.2 Metode Penelitian ....................................................Error! Bookmark not defined.
3.2.1 Metode pengembangan perangkat lunak ...........Error! Bookmark not defined.
3.2.2 Metode Penyelesaian Masalah ..............................Error! Bookmark not defined.
3.3 Alat dan Bahan Penelitian ........................................Error! Bookmark not defined.
3.3.1 Alat Penelitian ...................................................Error! Bookmark not defined.
3.3.2 Bahan Penelitian ...............................................Error! Bookmark not defined.
BAB IV ..............................................................................Error! Bookmark not defined.
HASIL PENELITIAN DAN PEMBAHASAN .................Error! Bookmark not defined.
4.1 Analisis Kebutuhan ..................................................Error! Bookmark not defined.
4.1.1 Deskripsi Sistem ...............................................Error! Bookmark not defined.
4.1.2 Analisis Input ........................................................Error! Bookmark not defined.
4.1.3 Analisis Output .....................................................Error! Bookmark not defined.
4.1.4 Analisis Pengguna .............................................Error! Bookmark not defined.
4.1.5 Analisis Proses ..................................................Error! Bookmark not defined.
4.2 Penentuan Posisi Kamera .........................................Error! Bookmark not defined.
4.3 Transformasi Gambar ..............................................Error! Bookmark not defined.
4.4 Pencarian Koordinat Berwarna Putih .......................Error! Bookmark not defined.
4.5 Menghitung Nilai Sudut ...........................................Error! Bookmark not defined.
4.6 Pengujian..................................................................Error! Bookmark not defined.
4.6.1 Pengujian dengan sudut pengambilan gambar sebesar 360 .... Error! Bookmark
not defined.
4.6.1.1 Pengujian garis marka lurus utuh dengan nilai radius 1.. Error! Bookmark
not defined.
4.6.1.2 Pengujian garis marka utuh(lurus) dengan nilai radius 1,5 ............... Error!
Bookmark not defined.
4.6.1.3 Pengujian garis marka lurus utuh dengan nilai radius 2 . Error! Bookmark
not defined.
4.6.1.4 Hasil tracking garis marka lurus utuh dengan posisi kamera 360 ...... Error!
Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
4.6.1.5 Pengujian garis marka lengkung kiri utuh dengan nilai radius 1 ....... Error!
Bookmark not defined.
4.6.1.6 Pengujian garis marka lengkung kiri utuh dengan nilai radius 1,5 .... Error!
Bookmark not defined.
4.6.1.7 Pengujian garis marka lengkung kiri utuh dengan nilai radius 2 ....... Error!
Bookmark not defined.
4.6.1.8 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 360
...............................................................................Error! Bookmark not defined.
4.6.1.9 Pengujian garis marka lengkung kanan utuh dengan nilai radius 1 ... Error!
Bookmark not defined.
4.6.1.10 Pengujian garis marka lengkung kanan utuh dengan nilai radius 1,5
...............................................................................Error! Bookmark not defined.
4.6.1.11 Pengujian garis marka lengkung kanan utuh dengan nilai radius 2 . Error!
Bookmark not defined.
4.6.1.12 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera
360 .........................................................................Error! Bookmark not defined.
4.6.1.14 Pengujian garis marka putus - putus dengan nilai radius 1.............. Error!
Bookmark not defined.
4.6.1.15 Pengujian garis marka putus - putus dengan nilai radius 1,5........... Error!
Bookmark not defined.
4.6.1.16 Pengujian garis marka putus - putus dengan nilai radius 2.............. Error!
Bookmark not defined.
4.6.1.17 Hasil tracking garis marka putus - putus dengan posisi kamera 360 Error!
Bookmark not defined.
4.6.2 Pengujian dengan sudut pengambilan gambar sebesar 590 .... Error! Bookmark
not defined.
4.6.2.1 Hasil tracking garis marka lurus utuh dengan posisi kamera 590 ...... Error!
Bookmark not defined.
4.6.2.2 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera 590
...............................................................................Error! Bookmark not defined.
4.6.2.3 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 590
...............................................................................Error! Bookmark not defined.
4.6.2.4 Hasil tracking garis marka putus - putus dengan posisi kamera 590 . Error!
Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
4.6.3 Pengujian dengan sudut pengambilan gambar sebesar 800 .... Error! Bookmark
not defined.
4.6.3.1 Hasil tracking garis marka lurus utuh dengan posisi kamera 800 ...... Error!
Bookmark not defined.
4.6.3.2 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera 800
...............................................................................Error! Bookmark not defined.
4.6.3.4 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 800
...............................................................................Error! Bookmark not defined.
4.6.3.5 Hasil tracking garis marka putus - putus dengan posisi kamera 800 .. Error!
Bookmark not defined.
4.6.4 Perbandingan selisih nilai sudut dari hasil tracking garis marka .............. Error!
Bookmark not defined.
4.6.5 Pengujian efektifitas ..........................................Error! Bookmark not defined.
BAB V ...............................................................................Error! Bookmark not defined.
KESIMPULAN DAN SARAN..........................................Error! Bookmark not defined.
5.1
Kesimpulan ........................................................Error! Bookmark not defined.
5.2
Saran ..................................................................Error! Bookmark not defined.
DAFTAR PUSTAKA ........................................................Error! Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
Abstrak ...............................................................................Error! Bookmark not defined.
KATA PENGANTAR .......................................................Error! Bookmark not defined.
Daftar Isi ............................................................................................................................ vi
BAB I .................................................................................Error! Bookmark not defined.
PENDAHULUAN .............................................................Error! Bookmark not defined.
1.1 Latar Belakang Penelitian ........................................Error! Bookmark not defined.
1.2 Identifikasi dan Perumusan Masalah .......................Error! Bookmark not defined.
1.3 Tujuan Penelitian .....................................................Error! Bookmark not defined.
1.4 Batasan Masalah ......................................................Error! Bookmark not defined.
1.5 Metode Penelitian ....................................................Error! Bookmark not defined.
1.6 Sistematika Penulisan ..............................................Error! Bookmark not defined.
BAB II................................................................................Error! Bookmark not defined.
KAJIAN PUSTAKA ..........................................................Error! Bookmark not defined.
2.1 Sistem Visual ...........................................................Error! Bookmark not defined.
2.2 Citra Digital .............................................................Error! Bookmark not defined.
2.3 Piksel ........................................................................Error! Bookmark not defined.
2.4 Pembacaan garis pada robot line follower ...............Error! Bookmark not defined.
2.5 Pengenalan Marka jalan ...........................................Error! Bookmark not defined.
2.6 Koordinat Kartesius dan Kutub................................Error! Bookmark not defined.
2.6.1 Konversi koordinat kutub ke koordinat kartesius ........... Error! Bookmark not
defined.
2.7 Perbandingan Trigonometri Sudut di Berbagai Kuadran ....... Error! Bookmark not
defined.
2.8 Vektor ......................................................................Error! Bookmark not defined.
2.8.1 Perkalian Titik Vektor .......................................Error! Bookmark not defined.
2.8.2 Perkalian Silang Vektor ....................................Error! Bookmark not defined.
2.9 Komunikasi Serial ....................................................Error! Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
BAB III ..............................................................................Error! Bookmark not defined.
METODE PENELITIAN ...................................................Error! Bookmark not defined.
3.1 Desain Penelitian .....................................................Error! Bookmark not defined.
3.2 Metode Penelitian ....................................................Error! Bookmark not defined.
3.2.1 Metode pengembangan perangkat lunak ...........Error! Bookmark not defined.
3.2.2 Metode Penyelesaian Masalah ..............................Error! Bookmark not defined.
3.3 Alat dan Bahan Penelitian ........................................Error! Bookmark not defined.
3.3.1 Alat Penelitian ...................................................Error! Bookmark not defined.
3.3.2 Bahan Penelitian ...............................................Error! Bookmark not defined.
BAB IV ..............................................................................Error! Bookmark not defined.
HASIL PENELITIAN DAN PEMBAHASAN .................Error! Bookmark not defined.
4.1 Analisis Kebutuhan ..................................................Error! Bookmark not defined.
4.1.1 Deskripsi Sistem ...............................................Error! Bookmark not defined.
4.1.2 Analisis Input ........................................................Error! Bookmark not defined.
4.1.3 Analisis Output .....................................................Error! Bookmark not defined.
4.1.4 Analisis Pengguna .............................................Error! Bookmark not defined.
4.1.5 Analisis Proses ..................................................Error! Bookmark not defined.
4.2 Penentuan Posisi Kamera .........................................Error! Bookmark not defined.
4.3 Transformasi Gambar ..............................................Error! Bookmark not defined.
4.4 Pencarian Koordinat Berwarna Putih .......................Error! Bookmark not defined.
4.5 Menghitung Nilai Sudut ...........................................Error! Bookmark not defined.
4.6 Pengujian..................................................................Error! Bookmark not defined.
4.6.1 Pengujian dengan sudut pengambilan gambar sebesar 360 .... Error! Bookmark
not defined.
4.6.1.1 Pengujian garis marka lurus utuh dengan nilai radius 1.. Error! Bookmark
not defined.
4.6.1.2 Pengujian garis marka utuh(lurus) dengan nilai radius 1,5 ............... Error!
Bookmark not defined.
4.6.1.3 Pengujian garis marka lurus utuh dengan nilai radius 2 . Error! Bookmark
not defined.
4.6.1.4 Hasil tracking garis marka lurus utuh dengan posisi kamera 360 ...... Error!
Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
4.6.1.5 Pengujian garis marka lengkung kiri utuh dengan nilai radius 1 ....... Error!
Bookmark not defined.
4.6.1.6 Pengujian garis marka lengkung kiri utuh dengan nilai radius 1,5 .... Error!
Bookmark not defined.
4.6.1.7 Pengujian garis marka lengkung kiri utuh dengan nilai radius 2 ....... Error!
Bookmark not defined.
4.6.1.8 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 360
...............................................................................Error! Bookmark not defined.
4.6.1.9 Pengujian garis marka lengkung kanan utuh dengan nilai radius 1 ... Error!
Bookmark not defined.
4.6.1.10 Pengujian garis marka lengkung kanan utuh dengan nilai radius 1,5
...............................................................................Error! Bookmark not defined.
4.6.1.11 Pengujian garis marka lengkung kanan utuh dengan nilai radius 2 . Error!
Bookmark not defined.
4.6.1.12 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera
360 .........................................................................Error! Bookmark not defined.
4.6.1.14 Pengujian garis marka putus - putus dengan nilai radius 1.............. Error!
Bookmark not defined.
4.6.1.15 Pengujian garis marka putus - putus dengan nilai radius 1,5........... Error!
Bookmark not defined.
4.6.1.16 Pengujian garis marka putus - putus dengan nilai radius 2.............. Error!
Bookmark not defined.
4.6.1.17 Hasil tracking garis marka putus - putus dengan posisi kamera 360 Error!
Bookmark not defined.
4.6.2 Pengujian dengan sudut pengambilan gambar sebesar 590 .... Error! Bookmark
not defined.
4.6.2.1 Hasil tracking garis marka lurus utuh dengan posisi kamera 590 ...... Error!
Bookmark not defined.
4.6.2.2 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera 590
...............................................................................Error! Bookmark not defined.
4.6.2.3 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 590
...............................................................................Error! Bookmark not defined.
4.6.2.4 Hasil tracking garis marka putus - putus dengan posisi kamera 590 . Error!
Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu
4.6.3 Pengujian dengan sudut pengambilan gambar sebesar 800 .... Error! Bookmark
not defined.
4.6.3.1 Hasil tracking garis marka lurus utuh dengan posisi kamera 800 ...... Error!
Bookmark not defined.
4.6.3.2 Hasil tracking garis marka lengkung kanan utuh dengan posisi kamera 800
...............................................................................Error! Bookmark not defined.
4.6.3.4 Hasil tracking garis marka lengkung kiri utuh dengan posisi kamera 800
...............................................................................Error! Bookmark not defined.
4.6.3.5 Hasil tracking garis marka putus - putus dengan posisi kamera 800 .. Error!
Bookmark not defined.
4.6.4 Perbandingan selisih nilai sudut dari hasil tracking garis marka .............. Error!
Bookmark not defined.
4.6.5 Pengujian efektifitas ..........................................Error! Bookmark not defined.
BAB V ...............................................................................Error! Bookmark not defined.
KESIMPULAN DAN SARAN..........................................Error! Bookmark not defined.
5.1
Kesimpulan ........................................................Error! Bookmark not defined.
5.2
Saran ..................................................................Error! Bookmark not defined.
DAFTAR PUSTAKA ........................................................Error! Bookmark not defined.
Khairul Jabal Firdaus, 2014
Sistem tracking garis dan sudut sebagai pendukung navigasi sebagai pengendara
Universitas Pendidikan Indonesia | repository.upi.edu | perpustakaan.upi.edu