SF21 Implementasi Sensor IMU MPU6500 dan Panel Surya untuk Kestabilan Navigasi dan Kemandirian Energi Robot Line Follower
Keywords:
Robot Line Follower, MPU6500, PID, Navigasi Hibrida, Tenaga SuryaAbstract
Abstrak —Robot line follower konvensional sering mengalami ketidakstabilan navigasi akibat keruntuhan torsi motor dan pengaruh mematikan permukaan, sementara ketergantungan pada pengisian daya eksternal yang mengganggu operasional. Untuk mengatasi permasalahan tersebut, penelitian ini mengimplementasikan sistem navigasi hybrid yang mengintegrasikan Inertial Measurement Unit (IMU) MPU6500 dengan sistem pengisian baterai berbasis tenaga surya. Kebaruan penelitian ini terletak pada transmisi umpan balik sudut yaw secara real-time dengan navigasi berbasis sensor garis untuk koreksi gerakan secara antisipatif, yang dikombinasikan dengan subsistem fotovoltaik guna meningkatkan kemandirian energi. Sistem dikembangkan melalui desain perangkat keras, implementasi pengontrol menggunakan algoritma PID, serta validasi eksperimental. Hasil penelitian menunjukkan bahwa sistem yang diusulkan mampu meningkatkan sinkronisasi gerakan dan akurasi navigasi. Rata-rata selisih kecepatan antar motor berkurang sebesar 65,86%, error navigasi pada lintasan lurus sepanjang 3 m menurun dari 54,87% menjadi 16,40%, atau mengalami penurunan sebesar 70,12% menjadi 16,40%, dan rata-rata error manuver belok 90° berkurang menjadi 0,63° tanpa overshoot maupun undershoot yang signifikan. Sistem pengisian daya berbasis tenaga surya menghasilkan tegangan keluaran sebesar 7,3 V dan arus pengisian hingga 0,221 A pada kondisi intensitas radiasi matahari optimal. Temuan ini menunjukkan bahwa integrasi umpan balik orientasi berbasis MPU6500 dan teknologi energi terbarukan efektif dalam meningkatkan stabilitas navigasi serta kemandirian energi pada robot pendidikan.
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