SnailBot, Robot Penyiang Gulma Berbasis Binocular Stereo Vision
Abstract
Penelitian ini mengembangkan SnailBot, prototipe robot penyiang gulma semi-otonom berbasis binocular stereo vision yang dirancang untuk meningkatkan efisiensi penyiangan di lahan sawah. Hingga tahap implementasi, progres pengembangan mencapai 93%, meliputi pembuatan bodi (100%), sistem navigasi (90%), sistem deteksi gulma (90%), penyusunan dataset (100%), dan uji performa awal (78%). Model deteksi gulma berbasis YOLOv5 yang dilatih menggunakan 766 citra (lapangan dan hasil augmentasi) memperoleh mean average precision (mAP) sebesar 0,739 dan mampu mendeteksi gulma pada jarak 20–40 cm melalui stereo depth estimation. Model ini kemudian dikonversi ke TensorFlow Lite INT8 dengan estimasi penurunan akurasi sekitar 2–3% untuk mendukung operasi real-time dengan efisiensi tinggi. Sistem navigasi berbasis Arduino Mega, GPS Neo-6M, dan sensor kompas menunjukkan deviasi posisi 3–5 meter serta mampu mengarahkan robot sejauh 5 meter secara semi-otomatis. Secara mekanik, motor DC 24V dan motor pemotong 775 DC memberikan torsi yang cukup untuk beroperasi di area berlumpur, sementara roda spiral berbahan PETG hasil cetak 3D menunjukkan traksi baik pada permukaan sawah. Hasil pengujian awal menunjukkan SnailBot memiliki potensi tinggi sebagai robot penyiang gulma semi-otonom dengan kemampuan deteksi, navigasi, dan pemotongan presisi. Dengan biaya perakitan di bawah Rp10 juta, SnailBot layak diterapkan oleh petani kecil dan menengah serta dapat dikembangkan menjadi sistem multi-fungsi untuk mendukung pertanian presisi berkelanjutan di Indonesia.
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Butuner, R., Calp, M.H., Butuner, N., Butuner, M., 2023. Robotic systems and artificial intelligence applications in agriculture. Current Studies in Technology, Innovation and Entrepreneurship 145.
Chairany, A., Buaton, R., Puspadini, R., 2025. Penerapan Internet of Things pada Mekanik Prototipe Robot Pengaduk Gabah. Repeater: Publikasi Teknik Informatika dan Jaringan 3, 89–101.
Chang, C.-L., Xie, B.-X., Chung, S.-C., 2021. Mechanical control with a deep learning method for precise weeding on a farm. Agriculture 11, 1049.
Damanauskas, V., Janulevičius, A., 2022. Effect of tillage implement (spring tine cultivator, disc harrow), soil texture, forward speed, and tillage depth on fuel consumption and tillage quality. Journal of Agricultural Engineering 53.
Duke, S.O., Heap, I., Tranel, P.J., Bobadilla, L.K., 2021. How Many Ways Can Nature Kill the Goose That Laid the Golden Egg?–The Many Mechanisms of Evolved Glyphosate Resistance. Outlooks on Pest Management 32, 197–202.
Halisyah, A.N., Adiputra, D., Al Farouq, A., 2024. Field oriented control driver development based on BTS7960 for physiotherapy robot implementation. International Journal of Electrical and Computer Engineering (IJECE) 14, 1486–1495.
Khaldi, N., Barradi, Y., Zazi, K., Zazi, M., 2021. Controller design for PV experimental bench with ADRC strategy supervised by Labview created interface. International Journal of Power Electronics and Drive Systems (IJPEDS) 12, 1162–1176. https://doi.org/10.11591/ijpeds.v12.i2.pp1162-1176
Losada-Gutiérrez, C., Espinosa, F., Cruz, C., Alvarado, B.P., 2025. Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot. Presented at the Actuators, MDPI, p. 376.
Lytridis, C., Pachidis, T., 2024. Recent advances in agricultural robots for automated weeding. AgriEngineering 6, 3279–3296.
Maharani, S., Panjaitan, S.D., Marindani, E.D., 2025. Wheeled Mobile Robot with GPS-Based Waypoint Navigation System and IoT Application. Telecommunications, Computers, and Electricals Engineering Journal (TELECTRICAL) 2, 316–325.
Murugaraj, G., Kumar, S.S., Pillai, A.S., Bharatiraja, C., 2022. Implementation of in-row weeding robot with novel wheel, assembly and wheel angle adjustment for slurry paddy field. Materials Today: Proceedings 65, 215–220.
Ngadi, N., Zaelany, A.A., Latifa, A., Harfina, D., Asiati, D., Setiawan, B., Ibnu, F., Triyono, T., Rajagukguk, Z., 2023. Challenge of agriculture development in Indonesia: rural youth mobility and aging workers in agriculture sector. Sustainability 15, 922.
Nugroho, M.V.P., Arifin, M., Widjajani, B.W., 2023. Sifat Fisik Tanah Pada Lahan Bawang Merah Di Kecamatan Gondang Nganjuk dan Kecamatan Kedungadem Bojonegoro. Jurnal Solum 20, 20–28.
Rahmad, Rusdinar, A., Suratman, F.Y., 2022. Sistem Penyiangan Otomatis pada Rover Pertanian Cerdas dengan Pengolahan Citra. Universitas Telkom, S1 Teknik Elektro.
Ratnesh, R.K., Goel, A., Kaushik, G., Garg, H., Singh, M., Prasad, B., 2021. Advancement and challenges in MOSFET scaling. Materials Science in Semiconductor Processing 134, 106002.
Reina, G., 2024. Robotics and AI for precision agriculture. Robotics 13, 64.
Riza, S., Sekine, M., Kanno, A., Yamamoto, K., Imai, T., Higuchi, T., 2022. Land suitability analysis for agricultural land use using hyperscale DEM data. AGRIVITA Journal of Agricultural Science 44, 187–198.
Sanchez, J., Gallandt, E.R., 2021. Functionality and efficacy of Franklin Robotics’ TertillTM robotic weeder. Weed Technology 35, 166–170.
Shamshiri, R.R., Rad, A.K., Behjati, M., Balasundram, S.K., 2024. Sensing and perception in robotic weeding: Innovations and limitations for digital agriculture. Sensors 24, 6743.
Sportelli, M., Apolo-Apolo, O.E., Fontanelli, M., Frasconi, C., Raffaelli, M., Peruzzi, A., Perez-Ruiz, M., 2023. Evaluation of YOLO object detectors for weed detection in different turfgrass scenarios. Applied Sciences 13, 8502.
Sugiarto, H., Astutik, R.P., Saputra, P.P.S., 2024. Rancang Bangun Sistem Kendali Alat Penanam Padi Otomatis Berbasis IoT Menggunakan ESP32 CAM. G-Tech: Jurnal Teknologi Terapan 8, 81–90.
SULISTIAWATI, I.B., MULYANTO, W.P., MATURBONG, R.K., PRIYANTO, S., 2024. Perancangan Prototype Zelio Smart Relay pada Modifikasi PLTS On Grid untuk Kontinuitas Suplai Daya di Kampus II ITN Malang. ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 12, 50.
Syaifuddin, A.F., Saputra, A.F.S., Putri, D.A., Abiansyah, P.S., Susanto, R., 2024. Mobil Cerdas 4WD dengan Teknologi Kendali Bluetooth yang Didesain dengan Konsep Karnaval. Presented at the Prosiding Seminar Nasional Teknologi Informasi dan Bisnis, pp. 165–172.
Syaifudin, A., Nofa, F.A., 2020. Jenis-Jenis Gulma Padi (Oryza Sativa L) di Lahan Pertanian Desa Terban Kecamatan Warungasem Kabupaten Batang Provinsi Jawa Tengah. Jurnal Biologica Samudra 2, 128–136.
Varol, M., İskefiyeli, M., 2025. A low cost compact network TAP device with Raspberry Pi 4. Engineering Science and Technology, an International Journal 70, 102118.
Yin, Q., Xia, X., Liu, X., Zhang, Y., Song, S., Li, H., 2025. WITHDRAWN: Structural optimization design of spiral-driven grain detection robot based on EDEM-RecurDyn.
YUDHISTIRA, G.F.A., SUTEDJO, S., RAKHMAWATI, R., 2023. Distribution Transformer Secondary Bushing Temperature Detection Device using Feed Forward Neural Network. ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 11, 983.
Zhang, W., Miao, Z., Li, N., He, C., Sun, T., 2022. Review of current robotic approaches for precision weed management. Current robotics reports 3, 139–151.
Zheng, Y., Liu, P., Qian, L., Qin, S., Liu, X., Ma, Y., Cheng, G., 2022. Recognition and depth estimation of ships based on binocular stereo vision. Journal of Marine Science and Engineering 10, 1153.
Published
2026-01-05
How to Cite
HANASTA, Dinta et al.
SnailBot, Robot Penyiang Gulma Berbasis Binocular Stereo Vision.
Journal of Agricultural and Biosystem Engineering Research, [S.l.], v. 6, n. 2, p. 137-148, jan. 2026.
ISSN 2776-821X.
Available at: <https://jos.unsoed.ac.id/index.php/jaber/article/view/18114>. Date accessed: 21 july 2026.
doi: https://doi.org/10.20884/1.jaber.2025.6.2.18114.
Section
Articles
