Rancang Bangun Guidance Dan Rudder Control System Pada Unmanned Surface Vehicle Untuk Operasi Survei Batimetri

Abidurrohman, Muhammad Albaz (2023) Rancang Bangun Guidance Dan Rudder Control System Pada Unmanned Surface Vehicle Untuk Operasi Survei Batimetri. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan untuk merancang dan mengimplementasikan sistem guidance dan rudder control pada Unmanned Surface Vehicle (USV) dengan menggunakan navigasi waypoint untuk operasi survei batimetri. USV merupakan kapal tanpa awak yang memiliki potensi besar dalam mendukung misi survei dan pengumpulan data di perairan dangkal. Dalam penelitian ini, kami merancang sistem guidance yang dapat mengarahkan USV secara otomatis menuju waypoint yang telah ditentukan. Penggunaan board Pixhawk sebagai otak dari USV memungkinkan kami untuk memanfaatkan berbagai sensor dan perangkat lunak terintegrasi yang mendukung kontrol dan navigasi yang tepat. Metode penelitian ini melibatkan tahap desain dan pembuatan prototipe USV, pengujian sistem guidance dan rudder control menggunakan software MATLAB untuk tuning PID, serta uji coba lapangan untuk menguji kinerja USV dalam operasi survei batimetri di perairan simulasi. Pengumpulan data dilakukan dengan mencatat hasil pergerakan USV dan ketepatan navigasi pada setiap waypoint yang telah ditentukan. Hasil penelitian menunjukkan bahwa sistem guidance dan rudder control yang dirancang berhasil mengarahkan USV dengan akurat menuju waypoint dan menjaga stabilitas arah kapal selama operasi survei. Implementasi board Pixhawk sebagai otak dari USV memberikan keunggulan dalam penggunaan sensor dan perangkat lunak yang terintegrasi, memfasilitasi operasi yang efisien dan andal. Penelitian ini menyimpulkan bahwa rancang bangun guidance and rudder control system pada Unmanned Surface Vehicle memberikan solusi yang efektif dan efisien dalam operasi survei batimetri di perairan dangkal. Penerapan teknologi ini dapat membuka potensi besar dalam pengembangan lebih lanjut dan penggunaan USV untuk berbagai aplikasi survei dan penelitian di perairan.
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This research aims to design and implement a guidance and rudder control system on an Unmanned Surface Vehicle (USV) using the Pixhawk board and waypoint navigation for bathymetric survey operations. USV is an unmanned vessel with great potential in supporting survey missions and data collection in shallow waters. In this study, we design a guidance system that can automatically direct the USV to predetermined waypoints. The utilization of the Pixhawk board as the brain of the USV allows us to leverage various integrated sensors and software that support precise control and navigation.The research methodology involves the stages of designing and building a USV prototype, testing the guidance and rudder control system using MATLAB PID Tuner software, and conducting field trials to assess the USV's performance in bathymetric survey operations in simulated waters. Data collection is carried out by recording the USV's movement and navigation accuracy at each predetermined waypoint. The results of the research indicate that the designed guidance and rudder control system successfully directs the USV accurately towards waypoints and maintains ship direction stability during survey operations. The implementation of the Pixhawk board as the brain of the USV provides advantages in using integrated sensors and software, facilitating efficient and reliable operations. The research concludes that the design and implementation of the guidance and rudder control system on the Unmanned Surface Vehicle offer an effective and efficient solution for bathymetric survey operations in shallow waters. The application of this technology holds great potential for further development and utilization of USVs for various survey and research applications in water bodies.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Batimetri, Unmanned Surface Vehicle (USV), Waypoint Navigation Bathymetry
Subjects:	V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Marine Technology (MARTECH) > Naval Architecture and Shipbuilding Engineering > 36201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Albaz A
Date Deposited:	08 Sep 2023 04:23
Last Modified:	08 Sep 2023 04:23
URI:	http://repository.its.ac.id/id/eprint/103987

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