Perancangan Autonomous Safe Landing Quadcopter dengan Sensor Jarak Menggunakan Fuzzy Logic Controller Berbasis Pixhawk Flight Controller

Umaro, Sutan Fadhil (2024) Perancangan Autonomous Safe Landing Quadcopter dengan Sensor Jarak Menggunakan Fuzzy Logic Controller Berbasis Pixhawk Flight Controller. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 07111840000214-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 April 2026. Download (5MB) | Request a copy

Abstract

Teknologi UAV, khususnya quadcopter telah banyak diterapkan di banyak sektor, mencakup militer, industri maupun pertanian. Penerbangan quadcopter dapat dibagi menjadi 3 tahap, yaitu lepas landas, menjalankan misi dan pendaratan. Salah satu hal penting yang dapat menjadi perhatian dalam proses penerbangan quadcopter adalah saat proses pendaratan, terutama dalam lingkungan yang dinamis, rawan terjadi crash. Penelitian ini berujuan untuk membuat sebuah sistem yang aman dalam proses pendaratan, maka dirancang sistem autonomous safe landing menggunakan Fuzzy Logic Controller (FLC). Pemilihan FLC karena dapat menangani ketidakpastian dan variasi lingkungan yang dapat terjadi saat pendaratan, salah satunya adalah ground effect. Ground effect adalah fenomena yang terjadi saat UAV berada dekat dengan permukaan tanah dan menciptakan tekanan udara tambahan sehingga menciptakan gaya angkat pada quadcopter. Input FLC berasal dari sensor VL53L1X, dan menghasilkan nilai jarak dan kecepatan. Implementasi quadcopter menggunakan Pixhawk yang dikomunikasikan dengan ESP32-S3 untuk membaca sensor dan memberikan perintah throttle. Penelitian dilakukan dengan melakukan simulasi di Simulink dan kemudian dilakukan implementasi. Terdapat perbedaan jumlah fungsi keanggotaan pada Simulink dan implementasi di ESP32-S3, karena proses FLC yang panjang membuat responnya lambat. Sehingga desain pada implementasi menitikberatkan pada fungsi keanggotaan yang sedikit agar respon bisa cepat. Output pada simulasi di Simulink berupa perubahan nilai RPM, sedangkan di ESP32-S3 berupa nilai penyesuaian throttle. Pada simulasi, quadcopter berhasil turun dari ketinggian 2.5 m dengan waktu 11.937 detik dengan rata-rata RPM 3914. Pada implementasi dengan 2 input, dari ketinggian 1.053 m quadcopter turun selama 3.3 detik. Terjadi pemantulan saat landing karena proses pendaratan yang terlalu cepat, namun tidak sampai terjadi crash. Pada implementasi FLC dengan 1 input, quadcopter berhasil mendarat dengan baik dan aman dari ketinggian 1.998 m selama 10.5 detik. Terjadi ground effect dan FLC berhasil mengatasi hal tersebut.
=================================================================================================================================
The widespread application of UAV technology, especially quadcopters, spans various sectors, including military, industrial, and agriculture. Quadcopter flights can be categorized into three stages: takeoff, mission execution, and landing. A critical aspect of the flight process, especially in dynamic environments, is the landing phase, which is vulnarable to crashes. This research aims to develop a safe autonomous landing system using Fuzzy Logic Controller (FLC). FLC was chosen for its ability to handle uncertainties and environmental variations during the landing, such as the ground effect phenomenon. Ground effect occurs when a UAV is close to the ground, creating additional air pressure and lift force on the quadcopter. The FLC inputs are derived from the VL53L1X sensor, providing distance and distance change values. The quadcopter implementation involves the Pixhawk communication with ESP32-S3 to read sensors and provide throttle commands. The study begins with simulation in Simulink, followed by practical implementation. There is a discrepancy in the number of membership functions between Simulink and ESP32-S3 due to the length of FLC process, resulting in slower response times. Thus, the implementation design focuses on a reduced number of membership functions to achieve faster responses. Simulation output in Simulink displays RPM changes, while in ESP32-S3, it indicates throttle adjustment values. In the simulation, the quadcopter successfully descended from a height of 2.5 m in 11.937 seconds with an average RPM of 3914. In the implementation with 2 inputs, the quadcopter descended from a height of 1.053 m in 3.3 seconds. A slight bounce occurred during landing due to the rapid descent, but a crash was avoided. In the FLC implementation with 1 input, the quadcopter successfully and safely landed from a height of 1.998 m in 10.5 seconds, effectively managing the ground effect phenomenon.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Quadcopter, Safe Landing, Distance Sensor, Fuzzy Logic Controller, Ground Effect, Sensor Jarak
Subjects:	Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Sutan Fadhil Umaro
Date Deposited:	01 Feb 2024 02:55
Last Modified:	01 Feb 2024 02:55
URI:	http://repository.its.ac.id/id/eprint/105808

Actions (login required)

View Item