Sistem Navigasi Otonom Robot Pembersih Kaca untuk Gedung Bertingkat
Abstract
Abstrak — Pembersihan jendela pada gedung bertingkat
merupakan pekerjaan berisiko tinggi yang menuntut efisiensi
dan keamanan. Untuk mengatasi tantangan tersebut, penelitian
ini bertujuan mengembangkan sistem navigasi otonom yang
andal untuk robot pembersih jendela. Fokus utama penelitian
adalah merancang sistem yang mampu bergerak secara
mandiri di permukaan kaca vertikal yang datar, dengan
batasan operasional pada kondisi cuaca yang mendukung untuk
menjamin kinerja optimal. Metodologi penelitian ini diterapkan
secara sistematis, diawali dengan studi literatur mendalam
untuk mengkaji teknologi navigasi dan fusi sensor yang relevan.
Tahap selanjutnya adalah perancangan arsitektur sistem, yang
mencakup pengembangan mekanisme navigasi presisi serta
sistem kontrol gerak. Rancangan tersebut kemudian divalidasi
melalui simulasi sebelum diimplementasikan pada perangkat
keras. Kunci dari implementasi ini adalah integrasi strategis
antara Complementary Filter dan Kalman Filter. Kombinasi
kedua filter ini sangat krusial untuk mengolah data sensor
secara akurat, memastikan robot dapat menjaga stabilitas
orientasi dan keakuratan posisi selama menjalankan tugas
pembersihan. Tahap akhir penelitian meliputi analisis hasil
untuk mengevaluasi performa dan keandalan sistem navigasi
yang telah dikembangkan.
Kata kunci— Robot Pembersih Jendela, Navigasi
Otonom, IMU, Ultrasonik, Kontrol Filter.
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