SISTEM TRACKING VISUAL MOBILE ROBOT BERBASIS TUNNELING SERVER

Abstract

Several professions require human interaction in dangerous work environments such as environments contaminated with radioactive elements or containing toxic gases, mining underground spaces, underwater exploration or places that have never been and are difficult for humans to reach. In order to reduce the risk of accidents, a tool is needed that can replace human interaction at these locations and provide information from a location to monitoring stations. One solution to the problem above is to develop an unmanned vehicle for surveillance purposes in the form of a mobile robot equipped with wireless visual devices. In this research, a tunneling webserver based mobile robot visual tracking system was designed. This system uses an ESP32-CAM microcontroller with a WiFi device as a wireless interface. ESP32-CAM is used to record the surrounding conditions according to the direction of movement of the mobile robot. The recording results are displayed on a webserver in real time which can be accessed via the internet after going through the tunneling process. This tunneling system will allow visual control to be monitored using the internet network. The research results show that visual webserver access with a local network has an average delay of 2.51 ms and packet loss of 0.013%. Meanwhile, when accessing via a tunneling server, there is an average delay of 3.10 ms and packet loss of 0.018%.