Implementasi Vision-Based PID Control untuk Pengendalian Kecepatan Diferensial Motor pada Autonomous Vehicle
DOI:
https://doi.org/10.26740/jte.v15n2.p121-127Keywords:
Autonomous vehicle, PID control, Vision system, HSV, Differential driveAbstract
Perkembangan autonomous vehicle (AV) menghadapi tantangan dalam menjaga kestabilan pergerakan dan akurasi arah, khususnya pada sistem penggerak diferensial yang rentan terhadap ketidakseimbangan kecepatan motor serta gangguan eksternal. Penelitian ini bertujuan untuk mengimplementasikan sistem kendali berbasis Vision-Based PID Control dalam mengatur kecepatan diferensial motor guna meningkatkan stabilitas dan akurasi pergerakan AV. Sistem yang dikembangkan mengintegrasikan pengolahan citra berbasis ruang warna HSV untuk mendeteksi objek secara real time dengan algoritma PID sebagai pengendali kecepatan motor kiri dan kanan. Informasi posisi objek digunakan sebagai sinyal error yang diproses oleh pengendali PID untuk menghasilkan sinyal kendali berupa nilai PWM pada masing-masing motor. Hasil pengujian menunjukkan bahwa sistem mampu mendeteksi objek dengan baik dan menghasilkan respon kendali yang stabil. Implementasi PID terbukti meningkatkan kecepatan respon, mengurangi error, serta memperbaiki kestabilan arah. Dengan demikian, integrasi vision system dan kendali PID efektif dalam meningkatkan performa navigasi pada autonomous vehicle.
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