perancangan embedded web server pada mobile robot untuk sistem pengawasan berbasis avr atmega16

8/3/2019 Perancangan Embedded Web Server pada Mobile Robot untuk Sistem Pengawasan berbasis AVR Atmega16

1/5

VkrdnadngdnKhbk``k` Wkb Qkrskr vd`dHoblik Robop {np{e Qlqpkh

Vkngdwdqdn bkrbdqlq DSR Dphkgd43

Clcl Nkn`kn4,Hdrlon Rkndi`o Roplnq{i{4,)2, \d|d Q{r|dnd4, ) 1,

4, Pkenle Kikepro ( [nlskrqlpdq DI Dzmdr Ln`onkqld

Jin. Qlqlngdhdngdrdjd Ekbd|ordn Bdr{ Jdedrpd Qkidpdn LN@ONKQLD

Pkiv. 624 727


2/5

Qkvkrpl |dng `lp{nj{eedn vd`d Gdhbdr 4) `lqdnd

pkr`dvdp plgd eohvonkn {pdhd {np{e hkngdhdnedn

vknglrlhdn h{iplhk`ld) |dlp{ :

4. Pkenle hkngkioid E{nal : mdi pkrvknplng `didhhkngkioid E{nal d`didm ek| gknkrdplon)

vkngdnge{pdn) vkn|lhvdndn) `dn rkcrkqmhknp.2. Digorlphd knerlvql `dn `kerlvql : digorlphd

knerlvql |dng qddp lnl `dvdp `lg{ndedn {np{e

knerlvql sl`ko d`did @KQ) DKQ) RQD) RA0)

L@KD) VGV) VKH) Ekrbkroq) `ii.

1. Hkednlqhk knao`kr`dn `kao`kr.1.VKHBDMDQDN

Vd`d vkhbdmdqdn lnl dedn `lvdvdredn eohvonkn(

eohvonkn |dng hkhbdng{n Hobop) bdgdlhdnd

vkrdnadngdnn|d) qlqpkh ekrjdn|d `dn vroqkq

vknglrlhdn `dpd |dng dhdn qkmlnggd `dvdp `lg{ndedn

{np{e ekvknplngdn pkredlp.

1.4 Vkrdnadngdn Eohvonkn Hobop

Gdhbdr 2. Bioe @ldgrdh Hobop

HleroeonproikrHobop `lrdnadng hkngg{ndedn ekn`dil {pdhd

hleroeonproikr qkrl DSR Dphkgd43. Eohvonkn lnl

hkr{vdedn pkrvknplng edrknd `lg{ndedn {np{e

hkngoidm vkrlnpdm `dn hkide{edn vkngkn`dildn)

hlqdin|d hkngmln`dr dvdblid pkr`dvdp vkngmdidng)

bkioe ek elrl dpd{ ek edndn) hkng(advp{rk lhdgk)hknglrlhedn `dpd) `ii. Vd`d Dphkgd43 pkr`dvdp 1; jdi{r L/O h{ipl c{ngql `dn 12 rkglqpkr h{ipl c{ngql

|dng `dvdp `lg{ndedn {np{e hknglnpkgrdqledn

eohvonkn(eohvonkn vkn`{e{ng idlnn|d.

Khbk``k` Wkb Qkrskr

Ekhdhv{dn Hobop `ldeqkq hkidi{l jdrlngdn lnpkrnkp

`ledrkndedn d`dn|d khbk``k` wkb qkrskr `didh

p{b{m Hobop. Eohvonkn lnl `lrdnadng hkngg{ndedn

ho`{i GQH |dng hkn`{e{ng jdrlngdn 1G.

eohvonkn(eohvonkn vknplng vkhbknp{e khbk``k`

wkb qkrskr d`didm ho`{i GQH) QLH adr`) LA

HD]212) `dn LA IH147.Ho`{i GQH bkrqdhd `kngdn QLH adr` hkide{edn

c{ngqln|d {np{e vroqkq vknkrlhddn `dn vknglrlhdn

`dpd hkidi{l jdrlngdn 1G. QLH adr` |dng `lg{ndedn

`didh qlqpkh lnl d`didm QLH adr` GQH. QLH adr`

`lm{b{ngedn `kngdn ho`{i GQH) qkmlnggd QLH adr`

`dvdp pkrdilrl pkgdngdn `dn `dvdp hknglrlhedn `dpdek ho`{i GQH bkr{vd `dpd {np{e ekvkri{dn

vknkrlhddn `dn vknglrlhdn `dpd. LA HD]212 d`didm

LA |dng bkrc{ngql qkbdgdl aohh{nladplon ilne|dng hkr{vdedn eohvonkn vkngm{b{ngedn qkrldi

dnpdrd ho`{i GQH `kngdn hleroeonproikr.

Qk`dngedn LA IH147 d`didm LA |dng bkrc{ngql

qkbdgdl soipdgk rkg{idpor dpd{ vkhbdgl pkgdngdn.

LA IH147 dedn hkngmdqliedn pkgdngdn |dng dedn

`lbkrledn {np{e ho`{i GQH.

Qknqor JdrdeQknqor lnl bkrc{ngql {np{e hkn`kpkeql jdrde `kngdn

bkn`d dpd{ vkngmdidng `lqkelpdr Hobop. Qknqor lnl

hkhbkrledn lnv{pdn ekvd`d hleroeonproikr dvdedm

jdrde `kngdn bkn`d pkrqkb{p q{`dm `kedp dpd{ bki{h

qkmlnggd Hobop blqd hkngmln`dr pdnvd pkrjd`lpdbrdedn. Eohvonkn |dng `lg{ndedn qkbdgdl qknqor

lnl d`didm ho`{i {prdqonle `dn lncrdhkrdm. Adrd ekrjd

ek`{dn|d pl`de jd{m bkrbk`d) |dlp{ hkhdncddpedn

vdnp{idn {pn{e hkn`kpkeql jdrde bkn`d. Vkrbk`ddnn|d

vd`d {iprdqonle |dng `lvdnadredn d`didm gkiohbdng

q{drd qk`dngedn vd`d lncrdhkrdm d`didm admd|d

lncrdhkrdm.

Gdhbdr 1. Li{qprdql Adrd Ekrjd Qknqor [iprdqonle

IA@

Ilt{l` Ar|qpdi @|qvid| dpd{ |dng ikblm `lekndi`kngdn IA@) d`didm q{dp{ jknlq hk`ld pdhvlidn |dng

hkngg{ndedn erlqpdi adlr qkbdgdl vkndhvli {pdhd.

Eohvonkn lnl `lg{ndedn {np{e hkn{nj{eedn `dpd(

`dpd `didh hleroeonproikr |dng elpd b{p{medn)

hlqdin|d jdrde `kngdn bkn`d `l`kvdn Hobop dpd{

mdn|d qkbdgdl ln`ledpor bdmwd vrogrdh |dng elpdpdndhedn `didn hleroeonproikr q{`dm bkrjdidn `kngdn

bdle.

Ilhlp QwlpamEohvonkn lnl `lg{ndedn vd`d qddp vkngkpkqdn

vrogrdh qdjd) hkng{rdngl rkqleo ekr{qdedn Hobop

delbdp pdbrdedn `kngdn bkn`d `lqkelpdr vd`d qddp

vrogrdh hdqlm `lbdng{n `dn bki{h qkhv{rnd) edrknd

qlqpkh |dng `lg{ndedn `didh vkhbdng{ndn Hobop lnl

d`didm pr| dn` krror) jd`l vrogrdh `l{jledn idngq{ng

vd`d Hobop) jled hdqlm pkr`dvdp ekqdidmdn hded

vrogrdh `lvkrbdlel ekh{`ldn `l{jledn idgl) bkglp{idm

qkpkr{qn|d mlnggd vrogrdh qkhv{rnd.


3/5

GVQ Ho`{iHo`{i lnl `lg{ndedn qkbdgdl vkn{nj{e drdm ioedql

|dng dedn `ldwdql. Ho`{i lnl `lm{b{ngedn `kngdnhleroeonproikr hkidi{l vorp [DRP. Hobop `dvdp

`llnqpr{eqledn oikm hleroeonproikr hkn{j{ drdm |dng

`lvkrlnpdmedn oikm {qkr.

AH[adh1Eohvonkn lnl bkrc{ngql qkbdgdl ln`krd vkngilmdp |dng

hkide{edn vkngdwdqdn vd`d `dkrdm |dng `lpknp{edn.

AH[adh1 hkhlilel vdvdn vkngkn`dil qkn`lrl `dn

bkrqlcdp vrogrdhhdbik `dn ovknqo{rak qkmlnggd

hkh{`dmedn vkngg{nddn|d. Vd`d vdvdn

vkngkn`diln|d pkr`dvdp vln L/O |dng `dvdp

`lhdncddpedn {np{e hkn`{e{ng elnkrjdn|d qkbdgdl

vkngdhbli gdhbdr. Vroqkqor Vmlilvq IVA2436

pkreonkeql `kngdn Ohnlslqlon AHOQ ho`{i qknqor

edhkrd. AH[adh1 `lvlilm edrknd edhkrd lnl bkrbdqlq

AHOQ |dng hkngmdqliedn gdhbdr `didh {e{rdn `dpd|dng ekali) qkmlnggd hkhvkrh{`dm vroqkq

vknglrlhdn `dpd vd`d jdrlngdn lnpkrnkp. AH[adh

`dvdp bkreoh{nledql `kngdn hleroeonproikr hkidi{l

eoh{nledql qkrldi RQ212) jd`l RQ212 lnl qkbdgdl

jkhbdpdn vkngm{b{ng dnpdrd edhkrd `kngdn

hleroeonproikr.

HoporHopor pknp{ qdjd `lg{ndedn {np{e hknggkrdedn ro`d

|dng hknjd`l alrl emdq Hobop) pdnvd hopor robop lnl

pl`de `dvdp bkrgkrde `dn hknjdidnedn c{ngqln|d

qkbdgdl vkngdwdq. Hopor `lm{b{ngedn `kngdn vln L/O

|dng hkhlilel ekhdhv{dn {np{e VWH- v{iqk wl`pmho`{idplon, hkidi{l LA IH2


4/5

Vkrbk`ddn dnpdrd vdekp(vdekp `dpd non(knerlvql

-vdekp(vdekp `dpd |dng pl`de pkrknerlvql, `dn vdekp(

vdekp `dpd |dng `lknerlvql hkngg{ndedn digorlphdDKQ pl`deidm bkqdr. Qkidln lp{ vkngg{nddn digorlphd

knerlvlql DKQ Vdrqldi `dn Vkn{m j{gd pl`de

hkhvkrilmdpedn vkrbk`ddn |dng pkridi{ jd{m.

Bkrbk`d mdin|d jled elpd hkngg{ndedn knerlvql

`kngdn hkpo`k digorlphd ]OR. Pkrilmdp qdngdp jkidq

{np{e vknglrlhdn kndh rlb{ crdhk) vkngg{nddn

digorlphd ]OR hkhb{p{medn wdep{ `ldpdq ilhd rdp{q

ilhd v{i{m rlb{ hlilqkaon`. Mdi lnl hkhb{dp gdhbdr

|dng `lelrlhedn hknjd`ledn ekrjd vknglrlhdn gdhbdr

qdngdpidm idhbdp.

Vkrbk`ddn |dng qdngdp bkqdr lnl hkn|lhv{iedn bdmwd

knerlvql hkngg{ndedn digorlphd DKQ hkr{vdedn

qoi{ql |dng ikblm bdle vd`d knerlvql sl`ko.

Gdhbdr ;. DKQ Vdrpldi Knar|vplon

Gdhbdr ;. DKQ C{ii Knar|vplon

Gdhbdr 3. ]OR Knar|vplon

0.LHVIKHKNPDQL

Gdhbdr 7. Adrd Ekrjd Robop

Qddp vkrpdhdedil hkngdeplcedn qlqpkh) hleroeonproikr

dedn hkide{edn lnlqldilqdql vd`d ho`{i khbk``k`

wkb qkrskr `dn edhkrd. Vroqkq pkrqkb{p mdn|d

bkridngq{ng bkbkrdvd `kple. Ekh{`ldn Hobop dedn

bkrgkrde hkn{j{ ioedql |dng pkidm `lpknp{edn. Qkidhdvroqkq hkn{j{ ioedql) Hobop `lp{np{n vkrgkrdednn|d

oikm qknqor(qknqor |dng `lpdndhedn. Qknqor

{iprdqonle `dn lncrdhkrdm hkn`kpkeql obqpdaik`lqkelpdr Hobop. Ekpled pkr`dvdp obqpdaik) hded

qknqor pkrqkb{p hkidvoredn ekvd`d hleroeonproikr.

@dpd |dng `lidvoredn oikm qknqor bkr{vd jdrde)

ekh{`ldn hleroeonproikr dedn qkgkrd hkngdhbli

ekv{p{qdn idngedm |dng dedn `ldhbli.

Vopongdn vrogrdh `ldpdq hkn{nj{eedn bdmwd jdrde

hlnlhdi dnpdrd Hobop `kngdn obqpdaik d`didm 46ah)

jled jdrde q{`dm `lbdwdm 46ah) hded hleroeonproikr

dedn hkhkrlnpdmedn hopor {np{e bkioe ek elrl dpd{ ekedndn qkq{l `kngdn ekd`ddn |dng bkride{.

Qkpkidm ioedql `ladvdl) hleroeonproikr dedn

hknglrlhedn eo`k DQALL ekvd`d AH[adh1 {np{e

ahC 8hlaroqkaon`qPoAknplhkpkrq-`{rdplonC,5

ahB 8hlaroqkaon`qPoAknplhkpkrq-`{rdplonB,5

lc -ahC 9 46,u

h{n`{r-,5

x

lc -ahB 9 46,

u

hdj{-,5

x


5/5

hkng(advp{rk lhdgk qkq{dl ekb{p{mdn. Ekhdhv{dn

edhkrd `didh hkngdhbli gdhbdr `dn hkn|lhvdnn|d

`l hkhorl |dlp{ 23cvq) ndh{n `didh edq{q lnl edhlpl`de hkhdeqlhdiedn ekhdhv{dn pkrqkb{p edrknd

`dpdrdpk |dng edhl g{ndedn pl`de hkn`{e{ng mdi

pkrqkb{p) qkmlnggd sl`ko |dng `lmdqliednv{n e{rdnghdeqlhdi.

Mdqli advp{rk pkrqkb{p idngq{ng `lelrlhedn hkidi{l

jdrlngdn lnpkrnkp |dng `leonknqledn oikm khbk``k`wkb qkrskr. @didh vroqkq vknglrlhdn `dpd dedn

`lknerlvql hkngg{ndedn digorlphd e{nal qlhkprl DKQ)

didqdn vkhlilmdn hkpo`k lnl edrknd vroqkqn|d ikblm

akvdp. Qkpkidm alvmkrpk}p `lelrlh hkn{j{ {qkr |dng

hkngdeqkq) hded `dpd dedn `l`kerlvql mlnggd hknjd`l

vidln pk}p`dn `dvdp `lg{ndedn {np{e ekvknplngdn

pkredlp.

;.EKQLHV[IDN

@kngdn hkhdncddpedn AH[adh1 Hobop `dvdp

bkekrjd `kngdn bdle {np{e hkngdhbli gdhbdr.

Gdhbdr |dng `ldhbli a{e{v `dvdp hkwdelil q{dp{

ioedql |dng mkn`de `lvdnpd{.

Vkrcorhdnql `drl knerlvql DKQ a{e{v hkhd`dl {np{e

hkndhvliedn crdhkq |dng `lpkrlhd pkvdp wdep{.

Qkq{dl `kngdn mdqli |dng `lp{nj{eedn) `kid| oskrmkd`ekpled hkngg{ndedn DKQ ikblm ekali `drl oskrmkd`

ekpled hkngg{ndedn digorlphd ]OR. Qkbdgdl

pdhbdmdn) DKQ hdhv{ hkn`dvdpedn mdqli knerlvql

|dng hkh{dqedn `kngdn wdep{ oskrmkd`|dng rkidplc

ekali. @kngdn `khleldn edhl hkn|lhv{iedn bdmwd

hkngg{ndedn DKQ d`didm hkr{vdedn qoi{ql |dngid|de {np{e `ldviledqledn vd`d vknglrlhdn rkdi plhk

sl`ko qkadrd dhdn.

Qdrdn

Dgdr qlqpkh bkrjdidn ikblm bdle edhkrd `dn ho`{i

khbk``k` wkb qkrskr `lgdnpl `kngdn plvk idln |dng

hkhlilel `|ndhla hkhor| |dng ikblm bkqdr qkrpd

hkn`{e{ng prdnqckr `dpd bkrqedid bkqdr hkngg{ndednvkhrogrdhdn qoekp qkadrd pkrb{ed.

@DCPDR RKCKRKNQL

U4X @lwdn. Jknlq(jknlq Robop Hlilpkr. Oepobkr 266

perancangan embedded web server pada mobile robot untuk sistem pengawasan berbasis avr atmega16

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