Implementasi dan Evaluasi Sistem Visi Komputer Berbasis HSV Dengan Dukungan Hough Transform Pada Quadcopter Otonom untuk Misi Line Following: Studi Validasi Awal pada Lingkungan Luar Ruang

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Published Sep 29, 2026
https://doi.org/10.31962/jiitr.v9i2.88
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Vol. 9 No. 2 (2026): September 2026

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Muhammad Hably Hukma
Politeknik Negeri Bandung
Budi Hartono
Politeknik Negeri Bandung

Abstract

Autonomous quadcopter navigation in GPS-denied environments, such as aircraft hangar inspection, requires a computer vision system that reliably detects guide paths in real time despite changing lighting. This study evaluates a computer vision system combining HSV color segmentation with Hough Transform as a backup method to detect straight and curved white-line paths, as a preliminary outdoor validation study. The system uses a Pixhawk 2.4.8, Raspberry Pi 5, and Logitech C270 camera, with a dual-ROI algorithm and a PD controller, validated through Gazebo SITL simulation and flight tests at three altitudes (1 m, 1.5 m, and 2 m). Each altitude was tested at least 10 times, with one representative test used for analysis. The best session at each altitude showed the quadcopter completing autonomous takeoff, hover, line following, and landing, with detection rates of 93.24% (1 m), 87.04% (1.5 m), and 90.29% (2 m), and a maximum yaw rate of 24.13°/s during turns. The proportion of detection methods shifted significantly with altitude: HSV accounted for only 1.4% at 1 m but rose to 79.6% at 2 m, with Hough dominating at lower altitudes. The combination proved complementary, improving path detection reliability under the tested conditions.

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This work is licensed under a Creative Commons Attribution 4.0 International License.

How to Cite
[1]
M. H. Hukma and B. Hartono, “Implementasi dan Evaluasi Sistem Visi Komputer Berbasis HSV Dengan Dukungan Hough Transform Pada Quadcopter Otonom untuk Misi Line Following: Studi Validasi Awal pada Lingkungan Luar Ruang”, jiitr, vol. 9, no. 2, pp. 71–86, Sep. 2026.

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