Sistem Pendeteksian Rintangan untuk Kapal Tak Berawak dengan Kombinasi Deteksi Tepi, Transformasi Hough dan Deteksi Saliensi
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May 19, 2022
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Abstract
Kapal tanpa awak yang digunakan untuk berpatroli di perairan pesisir membutuhkan sistem deteksi dan penghindar rintangan yang andal. Hal ini dikarenakan banyak terdapat objek-objek yang dapat menghalangi lajunya kapal di permukaan air. Tantangan dalam pengembangan sistem pendeteksian rintangan berbasis citra bagi kapal tak berawak ukuran kecil adalah performa komputasi yang terbatas. Penelitian dilakukan untuk membuat sebuah sistem pendeteksian rintangan bagi kapal tanpa awak yang akurat dengan proses komputasi yang minimum agar dapat diimplementasikan ke dalam sistem tertanam. Sistem yang dibuat mengkombinasikan deteksi tepi, transformasi Hough dan deteksi saliensi untuk mendeteksi adanya rintangan di atas permukaan air. Dari hasil pengujian didapatkan bahwa performa sistem dapat mendekati kemampuan sistem lain yang lebih kompleks namun belum dapat mengunggulinya. Sistem ini juga diimplementasikan pada sistem tertanam dan menghasilkan kecepatan yang memungkinkan untuk dilakukan pengimplementasian secara real-time.
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Pratama, B., & Mayantasari, M. (2022). Sistem Pendeteksian Rintangan untuk Kapal Tak Berawak dengan Kombinasi Deteksi Tepi, Transformasi Hough dan Deteksi Saliensi. Journal of Informatics Information System Software Engineering and Applications (INISTA), 4(2), 13-20. https://doi.org/10.20895/inista.v4i2.420
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