Algoritma Pencarian Titik Api (Pointing) Mengunakan Kamera pada Robot Pemadam Api

Abstract

At Indonesian Fire-Fighter Robot Contest at 2016, there were a new level in which the robot must be able to find baby doll and then save it. The robot are required to use camera in order to detect the baby doll. The camera will be utilized to detect fire replacing TPA81 while pointing the fire. When robot enters the room that has fire, the robot will move forward ±5cm from the entrance, then searches the fire by turnig left and right. If the fire are not found then robot will turn right and then do the search again. When the fire was found then the robot will directly go to the fire point until ±10 cm away from the fire, then the robot immediately turn on the fan to extinguish the fire. The algorithm test were performed on 20 maps configuration that has different lights intensities. The test result were compared with previous algorithm which used TPA81. The robot were successful to extinguish fire in less than 20 seconds with average extinguishing time of 7,17 seconds. From all maps configuration, room 1 has longer average extinguishing time that is 8,02 seconds. The amount of light that was lit outside the field will interrupt the robot while pointing. The average extinguishin time using camera are faster,7,17 seconds,compared to that of TPA81, 7,87 seconds.