PERANCANGAN ROBOT PENDETEKSI DAN ESTIMASI KEDALAMAN LUBANG

MUTAQIN, MUHAMAD RIZAL and Jayanti, Suci Dwi (2025) PERANCANGAN ROBOT PENDETEKSI DAN ESTIMASI KEDALAMAN LUBANG. Undergraduate thesis, Sriwijaya University.

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Abstract

Potholes are a common form of road damage that pose serious risks to road users. Accurate repair requires estimating the pothole's dimensions—length, width, and depth—which is still commonly done manually and inefficiently. This study proposes the development of an autonomous mobile robot capable of detecting and estimating pothole dimensions. The robot utilizes an ultrasonic sensor and a deep learning based webcam system for pothole detection and depth estimation. It navigates using a Proportional-Integral Derivative (PID) control system and is operated via a stick controller. Simulation results showed the PID system significantly reduced steady-state error to 0.0028. Real-time testing demonstrated the robot's effectiveness, achieving a mean square error (MSE) of 2.89% for depth measurement using an HC-SR04 ultrasonic sensor and 0.04% MSE for GPS-based location tracking. The visual system achieved a 76% success rate in pothole detection. These results indicate that the robot can be effectively implemented for automated pothole detection and depth estimation.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Mobile Robot, Pothole, Ultrasonic Sensor, GPS, Camera.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Muhamad Rizal Mutaqin
Date Deposited:	11 Sep 2025 04:10
Last Modified:	11 Sep 2025 04:10
URI:	http://repository.unsri.ac.id/id/eprint/183782

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