Sistem Kontrol Mobil Otonom Menggunakan Fuzzy Logic Controller (FLC) pada Jalan Tanjakan

Yuwono, Bryan Reviansyah (2024) Sistem Kontrol Mobil Otonom Menggunakan Fuzzy Logic Controller (FLC) pada Jalan Tanjakan. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Mobil otonom memerlukan sebuah sistem kontrol yang andal dan bisa digunakan di berbagai macam kondisi seperti pada jalan tanjakan. Salah satu metode kontrol yang dapat dipakai adalah Fuzzy Logic Controller (FLC). FLC memiliki tingkat pemahaman yang cukup baik dan dapat bekerja pada sistem nonlinier sehingga cocok digunakan pada sistem kontrol mobil otonom. Tipe FLC yang digunakan pada penelitian ini ialah tipe Sugeno. Tipe ini dipilih karena output yang dihasilkan merupakan parameter dengan besaran pasti sehingga hasil yang didapat lebih presisi dan akurat. Pada penelitian ini dapat dilihat bagaimana respon sistem berupa kontrol gerak longitudinal dan gerak lateral yang dihasilkan. Sistem diuji dengan dua kondisi yaitu pada jalan tanpa tanjakan dan jalan dengan tanjakan. Masing – masing kondisi diberikan kontroler fuzzy-Sugeno dengan 3 MF, 5 MF dan 7 MF. Berdasarkan hasil penelitian, kontroler fuzzy-Sugeno 7 MF merupakan kontroler terbaik pada jalan tanpa tanjakan maupun jalan dengan tanjakan. Pada jalan tanpa tanjakan RMSE error kecepatan ialah 2.6462 km/jam, RMSE error angular sebesar 0.0467° dan RMSE error lateral sebesar 0.5455 meter. Sedangkan pada jalan tanjakan, RMSE error kecepatan ialah 2.6124 km/jam, RMSE error angular sebesar 0.0614° dan RMSE error lateral sebesar 0.5437 meter.
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Autonomous car requires a reliable control system that can be used in various conditions, such as on uphill roads. One of the control methods that can be employed is the Fuzzy Logic Controller (FLC). FLC has a sufficiently good level of understanding and can work on nonlinear systems, making it suitable for use in autonomous vehicle control systems. The FLC type used in this research is the Sugeno type. This type is chosen because the output it produces is a parameter with a definite value, resulting in more precise and accurate outcomes. This study examines how the system responds in terms of longitudinal and lateral motion control. The system is tested under two conditions, on a flat road and on a road with an incline. Each condition is provided with a fuzzy-Sugeno controller with 3 MF, 5 MF, and 7 MF. Based on the research results, the fuzzy-Sugeno 7 MF controller is the best controller for both flat and uphill roads. On a flat road, the RMSE speed error is 2.6462 km/h, the RMSE angular error is 0.0467°, and the RMSE lateral error is 0.5455 meters. Meanwhile, on an uphill road, the RMSE speed error is 2.6124 km/h, the RMSE angular error is 0.0614°, and the RMSE lateral error is 0.5437 meters.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic Controller (FLC), Jalan Tanjakan, Kontrol, Mobil Otonom, Sugeno, Autonomous Car, Control, Incline Road
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Bryan Reviansyah Yuwono
Date Deposited:	06 Feb 2024 03:13
Last Modified:	06 Feb 2024 03:13
URI:	http://repository.its.ac.id/id/eprint/106163

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