Rancang Bangun Robot Penghindar Rintangan Berbasis Raspberry Pi Pico Dan Sensor Time of Flight
Abstract
This research addresses the collision risks in remote-controlled robots caused by communication latency and human operator response limitations. The primary focus of this study is the development of a lightweight autonomous safety override mechanism using a resource-constrained microcontroller, the Raspberry Pi Pico W. The system integrates the VL53L0X Time of Flight sensor for high-precision obstacle detection and the KY-032 infrared sensor for cliff protection. The methodology involves designing a hybrid control architecture that combines web-based instructions with real-time safety logic. Experimental results demonstrate that the ToF sensor achieves an accuracy rate of 98.01%, surpassing the reliability of conventional ultrasonic sensors. The cliff protection system shows a 100% success rate in performing automatic avoidance maneuvers without relying on operator input. This research proves that integrating ToF sensors and override mechanisms on low-power platforms significantly enhances navigation safety for Internet of Things (IoT)-based robots.
Keywords: Internet of Things; Raspberry Pi Pico W; KY-032 sensor; Time of Flight sensor; autonomous safety.
Abstrak
Penelitian ini mengatasi permasalahan risiko tabrakan pada robot kendali jarak jauh yang disebabkan oleh latensi komunikasi dan keterbatasan respons operator manusia. Fokus utama penelitian adalah pengembangan mekanisme keselamatan otonom (autonomous safety override) yang ringan (lightweight) menggunakan mikrokontroler berbasis sumber daya terbatas, Raspberry Pi Pico W. Sistem ini mengintegrasikan sensor Time of Flight VL53L0X untuk deteksi rintangan presisi tinggi dan sensor inframerah KY-032 sebagai proteksi terhadap area curam (jurang). Metodologi yang digunakan mencakup perancangan arsitektur hybrid control yang menggabungkan instruksi web-based dengan logika proteksi real-time. Hasil pengujian menunjukkan sensor ToF mencapai tingkat akurasi 98,01%, melampaui keandalan sensor ultrasonik konvensional. Sistem proteksi jurang menunjukkan tingkat keberhasilan 100% dalam melakukan manuver penghindaran otomatis tanpa bergantung pada instruksi operator. Penelitian ini membuktikan bahwa integrasi sensor ToF dan mekanisme override pada platform hemat daya mampu memberikan jaminan keamanan navigasi yang signifikan bagi robot berbasis Internet of Things (IoT).
Kata kunci: Internet of Things; Raspberry Pi Pico W; sensor KY-032; sensor Time of Flight
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