PENGENALAN OBJEK HALANGAN PADA MOBILE ROBOT MENGGUNAKAN METODE SEGMENTASI WARNA HSV DAN LOGIKA FUZZY
Daftar Isi:
- Utilization of computer vision in digital image processing has been widely applied to assist humans in the detection or recognition of an object. The process of recognizing /detecting an object requires separation in advance on an section or image segment, this process is commonly known as the segmentation process. This study aims to detect an object in the form of obstacles which is implemented on a mobile robot. For movements on mobile robots using fuzzy logic. To detect the object, one method of color segmentation is used HSV image segmentation (Hue, Saturation, Value). The HSV segmentation process aims to distinguish the pixels intended as objects. Then the number of pixels will be detected. Increasingly the number of pixels detected the object is assumed to get closer, and decreasingly pixels detected it is assumed that the object is farther away. The final results in this study are pixel values that determine the PWM value of the two dc motors on the mobile robot. Then the value is compared with the matlab program. The precision level of the pwm value produced is 98.61% at left motor and 90.41% at right motor.