Path Planning Berbasis Algoritma BEME Untuk Crowd Evacuation Dengan UAV

Pujayasa, Agung Pratama (2022) Path Planning Berbasis Algoritma BEME Untuk Crowd Evacuation Dengan UAV. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

UAV merupakan autonomous vehicle yang beroperasi pada lingkungan udara. Salah satu masalah paling umum dalam evakuasi adalah penggunaan satu jalur evakuasi secara berlebihan yang mengakibatkan kegiatan evakausi menjadi tidak optimal, selain itu ada juga masalah berupa evakuan yang tidak menggunakan jalur yang paling optimal. Sayangnya kedua masalah ini sering terjadi bersamaan berhubung kegiatan evakuasi sering terjadi pada kondisi panik dan kacau. UAV dapat didesain untuk beroperasi dengan kemampuan path generation yang cocok pada scenario evakuasi massa selain itu dibanding unmanned vehicle lain UAV lebih mudah dilihat dibandingkan unmaned vehicle yang beroperasi di darat, algortima path generation juga dapat disesuaikan untuk mengatasi masalah penggunaan berlebih satu jalur dengan menambahkan algortima tambahan untuk alokasi jalur disamping algortima untuk menghasilkan path terpendek. Pada penelitian ini akan dibuat algoritma path planning UAV yang dapat membagi path yang ada untuk memperrmudah evakuasi menggunakn algoritma BEME dan RRT. Dari percobaan yang dilakukan dedapatkan algoritma path planning yang dapat membagi path evakuasi secara rata berapapun jumlah evakuan, sehingga kemungkinan terjadinya bottleneck akan seminimal mungkin.
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UAV is an autonomous vehicle that operates in an air environment. One of the most common problems in evacuation is the excessive use of one evacuation route which results in non-optimal evacuation activities, besides that there are also problems in the form of evacuations that do not use the most optimal route. Unfortunately, these two problems often occur together because evacuation activities often occur in panic and chaotic conditions. UAV can be designed to operate with path generation capabilities that are suitable for mass evacuation scenarios besides that compared to other unmanned vehicles, UAVs are easier to see than unmaned vehicles operating on land, path generation algorithms can also be adapted to overcome the problem of using one lane overload by adding additional algorithms. for path allocation in addition to the algorithm to produce the shortest path. In this study, a UAV path planning algorithm will be created that can divide the existing path to facilitate evacuation using the BEME and RRT algorithms. From the experiments conducted, the path planning algorithm was found that can divide the evacuation path evenly regardless of the number of evacuations, so that the possibility of a bottleneck will be minimized.

Item Type:	Thesis (Other)
Additional Information:	RSE 005.1 Puj p-1 2022
Uncontrolled Keywords:	crowd evaquation, Unmanned Aerial Vehicle, Balanced Evacuation Algorithm for Multiple Exits, path generation.
Subjects:	Q Science > QA Mathematics > QA9.58 Algorithms U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	- Davi Wah
Date Deposited:	01 Feb 2024 03:49
Last Modified:	01 Feb 2024 03:49
URI:	http://repository.its.ac.id/id/eprint/105663

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